It might be easier to retrofit a western hemisphere radio/nav system from another Toyota than to try to reprogram that one. A manual won't help you because the voice-activated nav system can only interpret Japanese unless you re-program it. You aren't going to have much luck finding someone who knows how to do this stateside.
What's more the scribing on the faceplates are in Japanese as well and your gauges are all in metric. Not to mention it's right hand drive, okay if you drive it in the UK, Hong Kong or Australia but if you are in the US that's going to be interesting.
I think you are on your own here.
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