Let me start off by saying that I enjoy tinkering/repairing cars as a hobby and I am willing to invest some money in it because it is enjoyable to me.
At a minimum you would need a subscription to TIS (Toyota Technical Information System) at the Professional Diagnostic level for either 2 days or a whole year. In my case I paid for a whole year which $1,360, but you can pay for two days which iirc costs $70.
You would also need a laptop and some sort of J5234 pass-through device, in my case I have a BMW ICOM Next, but any J5234 pass-through device would work, just a word of warning J5234 pass-through devices are expensive and the Chinese knockoff do not always work and can brick sensitive ECUs.
If you have a subscription to TIS and have installed GTS+, have a J5234 pass-through device, it is just a matter of going into the right menu and adding a new fob.