Check this out...
SoundLinQ (SLI) - Auxiliary Input Adapter with AppleŽ
ipod™ interface
(fits most Toyota/Lexus vehicles 2001-2007 with and without Navigation System)
Toyota/Lexus Audio,Video and Information Solutions (Lexus Auxiliary input,Lexus iPod integration,Lexus XM integration)
I haven't gotten them yet but sure is at the top of my list of mods...