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How do I do it?

And yes I know I can send a NOTIFY SIP packet and reboot with it.
I also know I can reboot in the web interface.

But using the phone only - besides pulling the power - is there no way to reboot the phone?

I'm talking about T41P, T42G and T46G

You can use ACTION URI to reboot phone remotely.
If you want to reboot phone via phone interface, you can long press X button, phone will prompt Dialog Box "Reboot the phone",
you can choose cancel or OK.

Thank you very much.

Excellent support as always.