At 93k miles the yellow maintenance required light on the dash stays on. Can you tell me how to turn it off?

 

Mileage means nothing. Its a dummy light thats supposed to be reset at every oil change
As for the Maint required light its in your manual on how to reset it.
With the car off,Press and hold the Trip and Reset light with 1 hand, while holding them BOTH in turn your key
to the RUN position (not start but run) and continue to hold them in till they turn off. It takes about 10 seconds.
If you turn the key and then press teh buttons in you will change the Outside Temp settings

 

^^^^ what he said