Bringing this thread back to life...2002 Limited
I successfully tried the exact method described above...WITHOUT A MASTER KEY.
At the onset of this journey, I had 2 (non-OEM) transponder chipped and functioning valet keys after purchasing my Runner. I say "valet" because both keys would start the Runner and unlock the doors, but would not lock the doors nor function in the glove box. Because of wear, both keys were causing the ignition cylinder to stick.
After an initial botched attempt at fixing the worn fingers in the cylinder by a local locksmith (you wouldn't believe the amount of metal shavings in the cylinder shaft after removing), I went to my local stealership and paid $50 for a new Master key according to my Runner's VIN. They wanted an additional $100 to program it.
The new master key unlocked/locked all doors and glove box. In the quoted text above, where it says 'master key', I used one of my already functioning 'valet' keys to program my newly cut 'Master' key. Worked flawlessly.
As a side note, in the 2002 limited, there is a light ring that fits over the ignition cylinder. Because the locksmith I used to 'fix' my ignition cylinder cracked the original cylinder, the light ring would not fit over the head of the replacement cylinder. In this particular light ring, also exists the engine immobilizer. If this immobilizer doesn't sit flush with the cylinder housing, your Runner will not start. Learned that lesson the hard way. Luckily, the locksmith had kept the original 'head' of the cylinder and was able to fit that head over the replacement cylinder. Runner started right up.