Dam well from what i remembered it would be difficult if all keys are lost but the best info i found on this was this.
TIS - TOYOTA 2017-2019 86 Repair Manual (RM2760U) IMMO reg.pdf
Under procedure "F" its not under the immo stuff its under the body control stuff.
I had one of those amazon techstream compatible cable that come with CD that have "techstream" so il test it out. They dont come with the security features so il give it a shot.
I though of that too but the seat heater switches get in the way under the panel. I was thinking maybe the radio trip panel on the left close to the wiper stock.