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.
It is explained on page number 187 in your owner's manual
Check
To program the garage door opener in a 2013 Toyota Avalon, first ensure the vehicle is parked and turned on. Press and hold the two outer buttons on the HomeLink system until the indicator light flashes rapidly, then release. Next, press and hold the button on your garage door remote while simultaneously pressing the desired HomeLink button until the indicator light changes from a slow blink to a solid light. Finally, test the programmed button to ensure it operates the garage door.
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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To program a Marantec garage door opener using a 2010 Toyota Tundra, first, ensure your vehicle is parked within range of the garage door opener. Press and hold the button on the vehicle's HomeLink system where you want to program the opener until the indicator light begins to flash. Next, press and hold the "Learn" button on the Marantec opener motor, then return to the Tundra and press the programmed HomeLink button again until the light flashes rapidly. Your garage door opener should now be programmed to your vehicle.
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