This might sound too simple, but have you tried pushing and holding the trunk release button on the key? I have a 2001 ES300 and that's how mine works. It took me a while to figure out that I had to hold it down until the trunk popped.
Yes, it's in the center console - lower compartment... remove everything and then lift-up the mat. You will see a small plastic door at the rear under the mat... remove the plastic cover and pull the wire loop... almost instant trunk access!