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I do not know for sure, my assumption is the 95 Avalon, especially the XLS would have keyless entry capability. It was/is the top Toyota passenger car model.
This is from the 96 Factory Service Manual:
Each receiver must have at least 1 (2 max.) unique transmitter VAC (vehicle access code) programed into it's EPROM to operate.
Receiver compatibility with any 2 random VAC is accomplished by using the following procedures.
A. Ground the receiver "Program" signal. The receiver will generate a feedback consisting lock, all doors unlock. and trunk.
B. Operate the transmitter #1 with any single button depression to store VAC #1- the lock. all doors unlock, and trunk is repeated.
C. Transmitter #2 must be similarly operated to store VAC #2.
If no signal is received before the ground is removed, the receiver will be programed to VAC #1 only.
This procedure prevents unauthorized programing.
D. Remove "Program" line ground signal to restore normal system operation.
E. Try any function on the transmitter to verify that it was programed correctly.
The next page in the manual says that terminal #9 is the programming terminal.