On a 19 Lux you should probably have factory remote start that doesn't require a paid subscription. It took me damn near two years to figure that out on my 20 Base.
Not sure how it would work if you are already pay for the service but in my case, I slow pushed the fob lock button down 3 times and then held it for 5+ seconds on the 4th press until the truck started. It's not in the manual and no one said s*** to me when I bought it, but I happened to catch a post on 4Runners.com where a reference was made about it, and I tried it and it worked...