Start by telling us what stereo is in your car. Toyota had several different stereos, or you might have an aftermarket one.
Your options range from <$10 to $500+ depending on exactly what it is you're trying to accomplish. On the low end of the budget spectrum, you can get a 3.5mm-to-cassette or 3.5mm-to-FM adapter, plug it into your phone's headphone jack, and just like that your phone's audio will come through your stereo. On the other end of the budget spectrum you can replace your current stereo with one that supports Bluetooth phone+music (or even one that supports Android Auto or Apple CarPlay) and have everything work relatively seamlessly.
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