Aftermarket Bluetooth Alternatives for Easy Hands-Free Capability in Your Car - Edmunds.com Scosche BlueFusion Bluetooth Car Kit for Most 2004 and Later Toyota Vehicles Basic Install Included BFTAK - Best Buy
I checked the links and they are old. Based on my searches, there is 1 good and cheap solution still available: Jabra CRUISER 2 Bluetooth In-Car Speakerphone I will update when I get it.
Update: I purchased Motorola Roadster instead as it offered more functionality (reading SMS and voice replying) for the same price. It works OK with some minor annoyances.