Know this is an very old thread, but due to google search believe it may help others trying to get a keyless remote for pre 1999 Previa, Tarago vehicles.
Firstly, none of the post 2000 Toyota programming and learning procedures will work, tried all and didn't get the lock/unlock cycling mentioned after going through steps recommended.
With my TCR10 it is apparently much easier only a matter of locating what was falsely referred to as the 'ECU'.
Somewhere under the dash in my R/H drive van is a black box with a programming switch.
First put key in ignition and turn to ON, not actually cranking over the engine.
Once you've found the 'black box' (no idea what it's called but not ECU), with a pen or paper clip wire push the button in for 3 seconds.
Keep the new remote close because you have 5 seconds to push a button on it which will then recognize its frequency.
Turn off ignition, get out of the vehicle and use remote where you should hear a chirp with lights flashing once.
This is how to set new keyless remotes in pre 1998 models, with factory alarm and immobilizer installed.
Please enlighten me to what the 'black box' is actually called rather than Engine Control Unit which is under my passenger seat.
Hope this helps someone out there who loves their old Egg, or what I see as a Spaceship!