This is actually what I do for a living. If you can start the car with a standard metal key there is no bypass needed. There was very few 02 T4R that had a chipped key. I've actually never seen one. 03+ generally have them. An easy way to tell for sure is pull the dash trim off the front of the cylinder, if it only has the two wires for the light and two on top for key sense there is no bypass needed. If it has an additional ring (typically black) there is indeed a transponder. If you have any questions on the install let me know, I'd be glad to help.
Greg
Edit: I should add if you have the factory alarm, the way to disarm that without unlocking the truck is pulse the negative disarm from the remote start to the key sense wire instead of the actual disarm wire in the car. This way the truck stays locked after remote start. Also the Toyota remotes do not function while remote started.