You didn't mention how old or new your car is, nor whether it uses a "smart" key with a transponder or not. Back in the old days, yes, a dealer could make you a new key if you gave them your VIN. But with newer cars, you may be completely out of luck. They can make you a key that will unlock the doors, but it won't be able to start the car...that's a very pricey fix, involving (at a minimum) resetting the security ECU (computer) -- or at worst, replacing the security ECU. If you have a working key already, it's much less expensive to get a new key: Your existing key authorizes the security ECU to add the new key.
Moral of the story: If you have only one key remaining, get a spare made ASAP!
Note this isn't unique to Toyota, this is true for most recent cars.
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