JVC makes an iPod adapter for cars (~$50 at Best Buy), but I'm not sure if it will work since I haven't seen the back of my Highlander's stereo. Here's a link to the installation instructions:
http://resources.jvc.com/Resources/0...T1475-003A.pdf
Does the Highlander's receiver have the necessary jack on its back to accept the plug on the JVC adapter?
Thanks.