You do not need the vehicle to clone a key: a working key and the PROTAG programmer are enough. It is done through the "Transponder Tool" > "Cloner" special function.
Required licences
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Hardware / cables
PROTAG
AVDI
⚠ WarningAbrites Diagnostics for Toyota/Lexus/Scion does NOT support cloning of Texas DST+ transponders.
Procedure
Connect the PROTAG programmer to the PC and check that the software detects it, then open the "Transponder Tool" special function and select "Cloner".
Keep the PROTAG away from metal surfaces while working on the transponder antenna and seat the key or transponder properly in the programmer, otherwise reading and writing will fail.
Hold the working original key close to the programmer antenna and read it.
Choose the correct target according to the type read: fixed Texas 4C is cloned onto a TPX1 transponder (JMA or compatible); fixed ID33 is cloned onto a PCF7935; Texas 4D transponders (types ID67, ID68, ID70) are cloned onto a virgin TPX2 (JMA or compatible).
For G-type and H-type mechanical keys, cloning is only possible onto Abrites TA30 transponders.
Run the cloning and check the result by reading the new key back with "Read/Identify" before trying it on the car.
Reference screenshots
Source: Manuale Toyota/Lexus/Scion, cap. 5 - Cloning a key (p.21) e cap. 6.2 (p.27-28) · ⏱ estimated time 10-20 min