2000 RX300 Key Programming issues

[RLH7104]

I've got a 2000 RX300 that needs a new key programmed.  The head has broken off the original making it a hassle to start the car with the key in 2 pieces, plus the unlock button on the key has stopped working.  I ordered a new key online and had it cut at a hardware store.  It turns the tumbler fine now and turns on the power to the vehicle including turning the starter, but of course doesn't start it since it's not paired.  I've been trying to pair it to the ECU using every programming method i can find to get the car into programming mode but cannot get it to work.  Has anyone else had this issue and resolved it or know what may prevent accessing the programming mode? 

While investigating, I came across several posts stating that the door actuators need to be functioning properly for the remote portion (lock/unlock/alarm) of the key to work.  Does anyone know if this would impact the ECU programming also?  I confirmed that one of my actuators isn't working, but I'm not sure if that would affect the ECU pairing.  

As a last resort, if I have a locksmith copy my current key to the new key, will I still have to go through the programming process after copying?