Reddit reviews Amooca New Car MP3 Player Radio Interface Aux-in Audio Input Auxillary Aux Adapter Fit Toyota 6+6Pin Connector 2005-2010 Camry 2005-2011 Corolla 2004-2010 Highlander 2003-2010 RAV4
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Add a 3.5mm AUX jack audio input into your factory car stereo, and it will let all device that has a 3.5mm audio output be played through the factory stereo system, such as iPhone, iPad, iPod, Android Mobile Phone, MP3 player, XM Satellite Radio, Video Game Systems, DVD player, etc.3.5mm aux jack support any device which have 3.5mm port, but NOT support radio panel contorl.Built-in high performance amplifier chip, static free CD quality clear audio sound.Fit for camry 2005-2011,corolla2005-2011,4runner 2003-2011, RAV4 2003-2011,tacoma 2004-2008,sienna 2004-2008,highlander 2004-2011,yaris 2006-2011,celica 2003-2005,Land Cruiser 2003-2011,Venza 2009-2011, Vitz 2006-2010,Avensis 2003-2011,Avalon 2005-2011, Auris 2007+,Mark X 2005-2011; Lexus ES300/330 2004-2011, IS220/250/300/350 2006-2011,GS300/400/430/450H 2006-2011,LS460 2007-2011,LX570 2008-2011Not compatible with Navigation,DVD and Touch Screen radios.
Something like this should plug right into the back of your radio.
I used one of these to make it look nicer.
Here is the full install on my car, if you care.
One of these will get you a good sounding aux line
Amooca New Car MP3 Player Radio Interface Aux-in Audio Input Auxillary Aux Adapter Fit Toyota 6+6Pin Connector 2005-2010 Camry 2005-2011 Corolla 2004-2010 Highlander 2003-2010 RAV4 https://www.amazon.com/dp/B00RGKNA68/ref=cm_sw_r_cp_apa_cwY5BbPCRNEPR
If you want Bluetooth, and Aux/USB, I've been very happy with this kit
USA SPEC BT45-TOY Bluetooth Phone, Music & AUX Input Kit for Select 1998-2014 Toyota & Lexus Models https://www.amazon.com/dp/B0178G5RRE/ref=cm_sw_r_cp_apa_DxY5BbBTM6EGQ