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2001 ES300 is already equipped with keyless entry, what key do you have? Here is an Owners Manual for your car that shows the factory key. You can get an aftermarket option for a reasonable price, FCC ID for the transponder is HYQ1512V, below is the video on how to program a new key to the car. Other option is to get an OEM key, Part Number for it is 89070-33470, I would suggest getting a pre-cut key, not a lot of places are willing to cut them because of a complicated shape.