Programming Toyota Keys

I own an 06 Sienna. I have two remotes but only one key. I have a cut, non-programmed key. I found instructions for programming keys for an 05 Sienna; it involves a sequence of inserting a good “master” key and then pressing and releasing the accelerator and brake pedals. Since the process for programming remotes is the same in 05 and 06, I am guessing that the same process is in place for programming keys for the 05 and 06 models.

Having said all that, is this sort of a programming process remotely (no pun intended) familiar to anyone? I am certainly up to saving the dealer programming fee, but at the risk of fouling anything am wary.

Thank you,