I just installed a $20 shield from www.nushield.com
. The company gives the choice of year, model, make of car. The part number for the 2006 Highlander Hybrid Limited was NU147A. The only thing needed is the shield-they include a cleaning cloth. The material is not soft. It is a flexible plastic that is not easy to install in the spece between the screen and the frame. I thought it was about an eighth of an inch too long, but my dexterious wife did it with just a tiny crease left. It takes no more input pressure on the screen than without it.
It works great.