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.