I think you need your local Locksmith to have a look at it.
They'll have replacement keys. Be cheaper than mr. Toyota too.
Just in the head of the key, beside where the shaft of the key enters the plastic, will be the RFID chip. The Locksmith should be able to program that for you.
He'll also have a list of instructions for programming the fob in your vehicle too.
You look like you have an RFID chip already, by the picture.
The Master key is needed. (The valet key will not open the glove-box or boot.)
On Mine, ok.
The alarm fob for my 2000 Cruiser was separate to the Key.
The key for mine looks very similar to the one in your picture.
Only Black, with a grooved shaft, not edge cut.
The Fob controls the Central locking and the Alarm on mine, just like a lot of other Toyota models.
There is also a Black box in the engine-bay with a speaker in the side of it, as well as a circular type pin lock in another face of the box. Needs one of the tube keys with the grooves around it to change its settings. (It depends on this box for which Key or Fob you need. You may have something different.) Toyota had more than one type of Alarm/Disabling system through the various models/years.
To program the alarm function and operate the power door locks on my 2000 Cruiser.
It was use a Master key in the ignition.
And then, without starting the vehicle, you turned the key back and fwd. a set number of times. (20 I think)
Then the indicators flashed and you had a short time to press buttons on the remotes.
Maximum of 3, including the original.
Each time you press a remote button the indicators flash.
So you have to press them separately, one after another, not all at once.
I'd wonder how many other keys and remotes are laying around out there, capable of opening the vehicle.
When you only have the one key.
Taking it to a Locksmith, not Mr. Minute, would save all the pain.
Hope that helps.