Toyota updates accessory part numbers every 3–4 years. For a 2023 model, you likely need PZ071-00A03 or later. Always check the manual's first page for "Compatible Model Years." Using an outdated manual can damage the new CAN bus architecture.
The PZ071-00A02 manual is for installers . The owner receives a separate, shorter "User Guide" that only explains button functions. toyota pz071-00a02 manual