TOYOTA 2010 Highlander - Manual (Page 517)

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5-2. Steps to take in an emergency
If you lose your keys/wireless remote control transmitter
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Keys
New genuine keys can be made by your Toyota dealer.
For vehicles with the smart key system, bring the other key and
the key number stamped on the key number plate.
For vehicles without the smart key system, bring a master key
and the key number stamped on the key number plate.
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Wireless remote control transmitter (vehicles without smart
key system)
New genuine wireless remote control transmitters can be pur-
chased and programmed by your Toyota dealer. If a wireless
remote control transmitter has been lost, bring the other wireless
remote control transmitter when going to pick up the new trans-
mitter.