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I did this to my 2017 Yaris IA and it worked great. The only issue I've ever had with it is that if you plug in the phone in the middle of the boot procedure it sometimes won't engage and recognize the phone, even if you unplug it and plug it back in. As long as the phone is plugged in before I start the car or after the "I agree" (not to be a distracted driver) screen goes away there haven't been any issues.

My local Toyota dealer still claims this can't be done.
 
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