Mine went twice in 600,000 km with the characteristic last gasp sound. Check that your fuse for the horn is ok (in plastic covered fuse block under the hood). If it's blown, replacing it may not work as failed horns can act as a short. Then, I would suggest that you go to a dealer parts department to ask about their OEM horns for your Highlander and to get them to print out the horn placement diagram for the vehicle. You'll see that you have 2 (or even 3) horns. I seem to recall that Toyota wanted over $100 for their OEM horns each. In any case, it was too much. I went to an auto parts store (Napa?) and picked up an inexpensive dual tone universal horn. Under the hood, the collision sensors are close by so best to disconnect the battery to be safe. Now, I replaced the horn on the drivers side -- it's tight to get in there, but you can do it. Connect up the single horn wire (the horn's negative is connected through the mounting hardware). I also disconnected and insulated the wire to the horn in front of the rad (old failed horns can can act as a short). Assuming that your fuse is good, reconnect the battery (and set up your clock and radio stations) and, hopefully, you'll be good to go.
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