I have an SR5 1998 4Runner. Today I purchased a keyless remote from the Toyota Dealership. This is all I did to program the remote
1. Put the key to the On position
2. Located the Security Box under the drivers seat
3. In the back of the box was a recessed green button.
4. I used a paper clip to push the green button in and pressed the top part of my remote which clicked.
5. I got out of the car, closed the door and used the remote. It works fine.
It took about 3 seconds