I tried this on my 04 4Runner with NAV and no-go as the HU does not support an external CD-Changer. You can get the pac-audio version with free cables and 2nd day delivery from ebay via specialty2002, search for "aux-pod". $158 Shipped
Mine did not work so he's giving me a full refund but if you don't have NAV or have a cd-changer option on your HU this may be a good deal
I installed the ipod2car from Peripheral with an Eclipse cable ($10) from Crutchfield. I'm able to use the steering wheel buttons to control the iPod. The only problem is turning the 4runner on and off pauses the iPod.