There's ways to do it, but if you want it "factory" looking you can do the following
(Disclaimer: I am in no way responsible if you mess this up, the below only applies to 200's with NO USB, do not attempt if your car already comes with the USB/AUX combo.)
1. Buy the AUX cable charger in FIG 1 depending on your phone/ipod/whatever
2. Buy a powerpole converter in Fig 2 or something similar (step down from 12v to 5v)
3. Buy part 86190-0C020 to replace your current AUX only port, bonus if you can find it with the harness
4. Your current AUX port will have 8 PINS, you will need to map them to the 5 Pin setup in part number 86190-0C020. If you are not electrically inclined then please see a professional. FIG 3 shows each pin does what
5. Considering you got the wiring correct in #4, you are now left with a fully functional AUX port on the AUX/USB combo switch, test and make sure the HU detects an AUX connection. Next is getting the USB to charge so you can use the cable in #1.
6. Now there are multiple ways to do it, see what this member did
here , but its kind of messy. You can head up to an electronics shop and they would be able to solder it neatly to a regular USB cord.
7. Now plug the cord to the powerpole in #2 using ignition switched and viola, youll be able to connect your AUX and charge at the same time, clean w/ OEM+ look
FIG 1
FIG 2
FIG 3 (borrowed from tacoma forums)
1 = Aux Left Out
2 = Aux Right Out
3 = Aux Ground
4 = Aux Connection Sensor
5 = Shielding
6-8 = Unused