This paper investigates the thermomechanical formation and recovery of nanometer-scale indents in a shape memory polymer (SMP), studied using a heated atomic force microscope (AFM) tip and hot-stage atomic force microscopy. The material tested is a tert-butyl acrylate (tBA)-based polymer, which has a glass transition temperature of 60 degrees C. The AFM tip forms indents in the polymer in the temperature range 25-250 degrees C. The shape recovery of the indents is studied while the polymer is heated up to 100 degrees C. The temperature required for complete annealing of the indents depends upon the indentation formation conditions, with higher temperature formation corresponding to higher temperature recovery.