Can I drive safely with check engine light on (Toyota Camry 2002)?

Well then you need another scanner! Because you still have a problem! The most common problem on this vehicle that will illuminate the MIL lamp is the CCV (canister closed valve) is this the valve you replaced?
 
Is it safe. Yes. Does it still have a very minor problem. Yes.
 
to add,
if repair was made, then the 15 amp EFI main fuse should be pulled for 30 secs. key off. that will reset the ecu and clear the light. if the light persists the issue still exists.
 
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