I was able to find a manual online that describes how to program the lock/unlock buttons on the key fob - this was the easiest part. I was also able to carve a key at a local hardware store. Home Depot also has a great cutting system (laser cut) that is even more precise. BUT the key won't start the car until you take it to the Toyota dealership and program the chip in the key to the internal security system to disable the immobilizer in the car. I even tried contacting the local locksmith but they couldn't do it - it must be a Toyota dealer. Despite this, I still saved a lot of money. My Toyota dealer charged me $120 (one labor hour) to have both keys made. Home Depot didn't charge me because I brought my own key. So the total bill was about $150 - as opposed to the $250 PER KEY Toyota usually charges if you do everything from them.
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