If you do not have a scrolling code remote system, it is relatively easy.
1. make sure that you have erased all prior set codes in your car by pressing buttons 1 and 3 for a full 20 secs. The light will remain full then blink. When it blinks, you have erased all codes.
2. Hold your hand held remote right next to the visor and press both the number 2 button and the hand held button until the LED light on the visor does a fast blink. You have now programmed your visor. now you need to program your car to the overhead motor.
3. There is a button (purple perhaps) at the back of the unit...it might be termed the training button or the learning button. Push it once and release. The yellow light will come on only for 30 seconds.
4. Press the number 2 button on your visor until you hear two clicks..happens pretty fast. Release the button.
5. Press the button and see if the door closes. If not, you might have a scrolling code system.
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I believe you might be referring to the automatic garage door opener buttons. Check your owners manual, or contact a dealer, to learn how to program them so that you can use them instead of the separate door opener supplied by the door manufacturer.
no
It is explained on page number 187 in your owner's manual
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http://www.homelink.com/programming/programming.taf?do=2# The programmin g for this model of Toyota is through Homelink, a Johnson Controls company. This video gives step-by-step instructions on how to program the opener.