I have Techstream and about the only "programming" it allows is with the immobilizer and keys. It's a diagnostic tool first and foremost, which is what a Toyota technician needs.
But there May be other "programmers" out there, which would be the bi-directional part. You're looking to make changes to the fuel/timing/injector maps I take it.. looking for performance of one kind or another (most want more power, some want more efficiency/fuel economy).
Looking around a little, I see that I'm wrong about Techstream, it can be used to flash/program, just not my model year. Looks like the ability doesn't exist on models earlier than 2001 (though I did see a Chineesium flash tool saying 2000... wonder if they mean a late 2000 model or a built in 2000, model year 2001 though).
Digging through more pages, I'm finding more and more posts talking about how Toyota ECU's can't be tuned. that if you want different performance, you have to go with a "piggyback" or completely replace the unit with something that is fully adjustable.
Regardless, if you find something, please post back to help others looking for the same thing.