I searched all over and finally found the info so I thought I'd be nice and post it here.
Courtesy of customstacos.com
For 2001+ Tacomas equipped with a factory alarm or keyless entry, here are some programming options that allow you to adjust the way your locks work.
The first programming option allows you to set the entry unlock to: (A) unlock the driver door with one push, and the remaining doors with a second push OR (B) unlock all of the doors with a single push.
- Open the driver's door. Remove the key from the ignition switch.
- (Complete these steps within 40 seconds)
- Insert the key into and remove it from the ignition switch 2 times.
(IN - OUT - IN - OUT)
- Close, then open the driver's door 2 times.
(SHUT - OPEN - SHUT - OPEN)
- Insert the key into and remove it from the ignition switch 1 time.
(IN - OUT)
- Close, then open the driver's door 2 times.
(SHUT - OPEN - SHUT - OPEN)
- Insert the key into the ignition switch and leave it in.
- Close the driver's door.
- Turn the key from LOCK to ON 4 times, ending at LOCK
(LOCK - ON - LOCK - ON - LOCK - ON - LOCK - ON - LOCK)
- Wait for the locks to stop, then remove the key from the ignition switch.
- On the key fob, press and release both LOCK and UNLOCK buttons at the same time.
- [For all doors unlock] press and release the UNLOCK button.
- [For driver door unlock] press and release the LOCK button.
- Open the driver's door. The programming is complete. If programming did not occur, start over.
The second programming option allows you to set the doors to lock when when the key is turned on, and unlock when the key is turned off.
- Open the driver's door. Remove the key from the ignition switch.
- (Complete these steps within 30 seconds)
- Insert the key into the ignition switch.
- Close, then open the driver's door 2 times.
(SHUT - OPEN - SHUT - OPEN)
- Turn the key from LOCK to ON 5 times, ending at ON
(LOCK - ON - LOCK - ON - LOCK - ON - LOCK - ON - LOCK - ON)
- Programming option (select one of the following).
- [Ignition controlled lock ON] Close the driver's door.
- [Ignition controlled lock OFF] Close the driver's door twice, leaving it closed.
(SHUT - OPEN - SHUT)
- Turn the key to LOCK. The programming is complete. If programming did not occur, start over.
When performing the programming, the park lights may or may not flash to confirm that the program was accepted. The only way to confirm the programming is to test them to see if they are functioning as desired.
These procedures may or may not apply to pre-2001 models.