Dealer will be expensive, try a few mobile locksmith/key cutting guys, they DO need access to car, but often half the crazy costs of dealer, for part, AND coding

The key gets registered to the car. Some mobile locksmiths are able to do it otherwise you can have it towed or buy a programmer yourself. Dealership system requires a secure Internet connection to access Toyota’s servers for techstream (Toyota’s dealer software) to really do anything besides clear codes and I really doubt they’ll have the set-up to do a key registration remotely. Also if you don’t have any working keys it requires special access codes and stuff that I’m not sure anyone other than a dealer can access due to needing to reseed the key ECU. Also if it’s a smart key (Toyota’s keyless key) have you tried touching it to the power button?