1. Go to your local Toyota dealer
2. Buy four new lug nuts of the not-so-locking variety from them.
3. Give a tech ten bucks to dig out the proper key and loan it to you for five minutes.
That's pretty much how it worked at both of the dealerships I worked for. Alternatively, you can pay the dealer half an hour of labor or search the internet trying to match up the picture only to find out upon receiving the thing that it's off by just a little...
I have seen the hammered-on socket with an impact wrench method work a number of times, too.