Other than the manual override sequence of many button pushes, the Lockpick is the only known option. Lockpick is a fairly elegant solution and we use one on our '06 and are very pleased.
Note, however, that what the lockpick does is to automatically perform the manual override sequence of button-pushes described elsewhere in this forum. With Lockpick, all you have to do is perform one button push to activate it and then wait and watch while it magically and rapidly goes through a sequence of half-a-dozen screens, but you must do so each time the car is started from being turned off. We have not found this to be a probelm at all, and are very glad to have the lockpick, because the sequence of button pushes is otherwise long and complex. And , of course, the GPS system is practically useless if you can't program it on the move. Being Garmin users also, we are particularly pleased with the functionality of the Toyota system once it is "unlocked."
Regarding the various Lockpick options, we got the Ultimate Lockpick with the reverse-camera hookup option (we do not have a reverse camera and the back of the car is usually coated black with road grime so we probably never will have a reverse camera). It also allows you to hook up ANY AV source with RCA jacks (we use it for our iPods). I would recommend against the reverse-camera option because each time you put the car in reverse, the sound is muted and when you put the car back into drive, the sound source reverts to the last audio source you used OTHER THAN THE "DISC/DVD/AUX" source. In other words, if you were playing your iPOd throguh the DISC (aux) input and you back up in a parking lot, when you pout it in forward you suddenly get a BLAST (because the level is much higher) of radio sound and it scares the bejeepers out of you!
Otherwise, we love the Lockpick.