I was wondering if anyone has found an iPod adapter for the car (not fm transmitter) that will work without a navigation system? (specifically for an 02 RX300 without Navigation)

 

The best thing to do would be to add an aftermarket part that will integrate perfectly with your stock stereo system. JL Audio dropped a few products to perfectly satisfy your needs. Although they are not as cheap as hacking away at your stock setup, but rest assured they are of the highest quality. JL Audio's website has the new line of factory integration options right on their main page.

http://mobile.jlaudio.com/products_....php?page_id=94