Good question. I know if the keys are 'chipped' then they have to be programmed to the cpu but not sure about the key cylinder. I'd suggest asking a local expert locksmith. Perhaps If you had the new cylinder keyed to your old chipped keys then you could make that work without programming? Again, ask a locksmith - they'll give you an instant accurate answer. I had a set programmed last month, cost was only $50 + my parts.
Luck and enjoy those Toyotas. : ^ )