The popular and cheap ($5-10) ELM327 based readers did not work for me on my 2002 Low-self-Estima. After a fair bit googling, it appears Toyota uses some variation of the OBD2 standard, so I bought one of this type (https://www.aliexpress.com/item/For-...847377006.html). It was a bit of a pain to install the pirated software and assocaited USB drivers on my laptop and get it communicating to a) the diagnostic widget and b) the car, but once I did, I was able to read the codes, figure out what they were and fix the problem myself.
If you want to go down the DIY path, search aliexpress for "Toyota Techstream" and/or "mini VCI". Good luck.
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