Hello there!
I also have a 2002 LX 470, and was relieved to read this post. However I called Custom Car Alarm in Pleasant Hill, CA (I'm coming from Santa Cruz, CA) and Mike still works there but a coworker of his told me they are no longer able to get the harness for our vehicles due to the manufacturer not producing them anymore 😢
Just wanted to shed some light to anyone who found this post and to congratulate you on getting it when the getting was good!