Hi,
sorry, no, you won't be able to change the taillights simply or fairly inexpensively. I've run into this type of question before, just with the standard halogen headlamps being switched to HID units.
The wiring and control modules for the LED's are simply not present in the '02. While they are both power loops providing energy from the 12 volt battery to the bulbs, the LED's require different voltage and an entirely different type of harness, not to mention an entirely new taillight lens assembly.
Call your local Toyota dealership and ask to speak to the parts department. Ask them what the '06 lens' alone would run, then see about the wiring harness'. It will be costly because you are changing a major portion of the vehicle wiring. It is possible there may be aftermarket units, but I would be very cautious about changing the braking wires so fundamentally.
BTW, the taillights, just like the headlights, in the Highlander Hybrid, are run from the 12 volt system, not the NiMH hybrid battery. Those are two totally separate power systems.
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. here are what my taillights look like:
Linear Mode
