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No need to go through everything written up on this - I just installed it in under 1/2 hour - it may not be 'by the Toyota book' but it works, looks professional, and avoids all the possible stress cracks and scratching of the dash components. Basically, you mount it by simply removing the glove box...

This was on a non-nav 08 Highlander with JBL. Not sure if you have similar access to a nav head unit.

1. Disconnect the negative battery cable. Remove the hinged part of the glove box as if you are replacing the cabin air filter.
2. Lift the inside sill plate and remove the screw on the passenger kick panel and remove it. There are two 10mm bolts at the bottom and 3 screws at the top of the glove box frame that need removed. Carefully pull the frame straight out - there are clips on the left and right - the left side near the radio were tight but came out without a problem or damage. You can now access the back if the radio.
3. There is a plug on the back of the radio on the side near the glove box. Right next to it and hidden from view, but still accessible, is the plug for the Sirius cable. Plug the cable in to the radio and secure with zip ties.
4. Behind the glove box and to the right is a nice flat surface on the side of the vehicle's computer. I put two strips of 3M double sided weatherstrip tape directly on the control box and mounted it. I put a large zip tie around it just in case. Plug the other end of the cable into the control box. (Throw away the unnecessary mounting bracket that comes in the kit.)
5. Mount the antenna above the right of the rear view mirror and run the cable down the right windshield pillar and to the Sirius box. Plug this cable in!
6. Put everything back together and you're done!!!
7. Enjoy satellite!

Couldn't be easier - why they made it so complicated is beyond me! I've mounted this in a similar way in an 07 Avalon and an 07 Solara in and it's been working fine for a couple of years now.

Sorry I didn't take pictures, but if you're intimidated by these instructions, you probably shouldn't be trying to install it yourself anyway... Siriusly!!