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It is explained on page number 187 in your owner's manual
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Push the " learn " button on your opener in the garage, then push the button in the car until the door opens or closes. There may be a procedure for setting the code on the door opener itself like pushing the learn button again, check your documentation.
First make sure the garage door opener is newer than a 1982 model. Press open on the garage door and press the control panel on the Avalon as well. After several seconds a light will indicate that the control is now synced to the car.
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