Found this on another website for ES300 and ES330 (has anyone ever tried this??):
ES300
1
Start with the key out of the ignition, the driver's door open, and all other doors closed. Make sure the opened driver's door is unlocked.
2
Insert the key into the ignition without turning it. Then pull it out.
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3
Lock all the cars doors with the "Lock" button on the driver's door console, then unlock them. Do this four more times. Use an even pace of about one click per second. Then close and open the driver's side door. Complete all of Step 3 in under 40 seconds.
4
Lock all the cars doors with the "Lock" button on the driver's door console, then unlock them. Do this four more times. Again, use an even pace of about one click per second. Insert the key into the ignition and turn it to "On" without starting the car, and then pull it out of the ignition cylinder. Complete all of Step 4 in under 40 seconds.
5
Press any key on the remote you want to program for a minimum of one second. The car will cycle the locks to confirm that the programming was accepted.
6
Close and open the driver's door.
7
Press any button again on the same remote for a minimum of one second. The car will cycle the locks--once if the programming was accepted and twice if it didn't.
8
Repeat Steps 5 through 7 for any additional remotes.
ES330
1
Start with the key out of the ignition, the driver's door open, and all other doors closed. Make sure the open driver's door is unlocked.
2
Insert the key into the ignition without turning it. Then pull it out. Repeat.
3
Close and open the driver's door twice. Insert the key into the ignition without turning it. Then pull it out. Complete all of Step 3 in under 40 seconds.
4
Close and open the driver's door twice. Insert the key into the ignition without turning it. Close the driver's door. Complete all of Step 4 in under 40 seconds.
5
Switch the ignition key to "On," and then to "Off." Do this once if you want the original remotes to still work. Do it twice if you want to erase all prior remotes from the car's memory and have it recognize only the remotes you are about to program.
6
Remove the key from the ignition cylinder. The car should now confirm that you are in programming mode by cycling the locks.
7
Press both the "Lock" and "Unlock" buttons simultaneously for the remote you program first. Release after 1.5 seconds. Within three seconds of letting go, press any key on the remote. The car should now confirm successfully programming the remote by cycling the locks once. If it cycles the locks twice, then programming failed and you should start Step 7 over again. Complete all of Step 7 in under 40 seconds.
8
Repeat Step 7 for each additional remote you want to program. Complete Step 8 in under 40 seconds per remote.
9
Exit the programming mode by either opening the driver's door or by inserting the key into the ignition.