I used this on my 2003 LTD. The key does not have to turn to program the immobilizer. It will have to turn to program the fob but, if you have another that turns you just need to get the cutting right to start after programming.
How to program
Actually it's a super easy if you still have one master key that can start your 4runner. There was a pdf somewhere about how to do it on a Prado but
its not very clear(it would ask you to remove the key from ignition 3 times without mentioning putting it back in at all) so I'll try to provide a clearer one here:
1. Take the new key and one master key that can start your 4runner(old key) into the 4runner with you and close the driver's door.(immobilizer light should be blinking)
2. Insert old key, remove old key, Insert old key, remove old key,
Insert old key, remove old key, Insert old key, remove old key,
Insert old key (immobilizer light should be off from the first insertion)
3. open and close driver's door six times (immobilizer light should be off)
Step 2 and 3 need to be done in less than 35 seconds(pdf says 35 seconds)
4.remove the old key. (immobilizer light should come on(steady on, not blinking))
5. insert the new key(immobilizer light should be blinking)
Then just sit there and wait, after a minute or two, the blinking immobilizer light should go off and you're done.
Whole process need to be repeated for any additional keys, the just programmed key could be used as the "old key" for the additional keys.
If there are 5 master keys registered with the immobilizer, it won't accept any more(and I don't know how would it tell you this, so just do a erase if you can't get it to work after trying for a few times). You have to erase them using a similar method(bring in just an old key, insert+remove one more time and open+close one more time, after the 7th close of the driver's door the immobilizer light will stay lighted for one second, remove the old key quickly after that and all but that one you just removed are erased.)