Yes, they are available as outsider60 has stated. Part number is 86271-GEN04-10. That is based on your vehicle being an '06 Highlander; each vehicle can have a differnent generation radio which would require a different disc.
MSRP on them is $199.00. I don't have the version yet because I have not yet ordered one. My price to TN members $165.00 plus actual shipping costs. Just to let everyone know. There is not a lot of mark up on this item to dealers, so I doubt you'll see anything lower than $160.00. If you do, TAKE THE DEAL!!!! But make sure you are getting '10 and not the '09 version.