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Keyless entry still wasn't considered an option in 2001. You had to have Toyota's alarm system to get keyless entry.
I did an install of the Toyota system on a 2001 RAV4 in order to add keyless entry. The package came with a couple of wiring harnesses, a computer module, the glass break sensor, and the key fobs. The hardest part of the install was carefully taking apart the driver's side of the dash and part of the steering column to get at the points where the wiring harness had to plug in. With everything apart, it was pretty simple to plug things in. No cutting of wires, and also everything was idiot-proof - every connector was different.
The Toyota alarm system is pretty basic as alarms go. It'll honk if the doors or the hood are opened without unlocking the doors properly, and it has the glass breakage sensor. It also cuts off the ignition in an alarm condition. And of course, you get keyless entry.
If you're looking for do-it-yourself, I'd certainly consider the Toyota system. It's probably not the best combination of features for the money (you might get more for your money with aftermarket), but as you figured, the integration with the existing wiring is excellent. You need to find the correct alarm model for your 2001 Taco. I think the 3000 and 3200 are slightly different inside, so you'll need to work with a dealer (either local or online) to find the thing. You need to order two parts - the base system, and also the specific wiring harness for your truck.
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Last edited by toto; 12-05-2006 at 08:36 AM.