I found the last step was missing in the instructions. After going through pairing, the phone said all was well, but the car said waiting for phone. I did everything in my phone's manual and everything in the Toyota manual, and the car said there was still no phone.

What was needed was for me to place a call using the phone while the car said it was waiting for the phone to register. The car did pick up the call, and all has been well since then.

-- Alan