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Your car uses a transonder key, a key with a small chip embedded inside. The transponder is matched to the immobilizer unit in your car. When the key is inserted into the ignition, the immobilizer searches for that transponder, if it's not near the ignition, the car will just keep turning over and not start. Your only real options are to replace the steering lock or buy a transponder bypass unit, which I do not recommend. Just do a google search.
This is going to sound wierd, but put your key into ignition and tap on the key (like a nail) with the handle of a screw driver (or similar). Shavings can build up in the cylinder of the ignition and the key may not turn it. The tapping can shake loose the pins that are stuck and you shoul be able to turn it. This is a common problem in Dodge so I hope it work for your toyota. A locksmith can also clean them out, or you can use WD-40.