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For my Tundra (it will also work for the FRS) I bought a programming cable on Amazon for $25 + $30 for two blank keys and programmed them using the Toyota Techstream software (included with the cable) and had them cut for $3. I also used it to removed the key and fob that I didn't have (used truck) and add two new keys and fobs. For Techstream you will need a laptop (or PC that you can get to the car) running Windows 7. I used a Mac laptop and used VirtualBox to run Windows 7.
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