No, but there are kits to add it aftermarket. I did this on my Gen2 Prius. It wasn't that difficult, but it wasn't super easy. Was a fun mod, I'd say on a scale of 1-10 in difficulty it was a 5.
Should be a straightforward mod, as most of the parts are already there. it was more work in my 2010 because more of the wiring needed to be added, but if I have read other posts right, there were later years in Gen 3 where the segment under the dash top was already present, so the rest could be added without having to take the top off.
I didn't need a kit, I just went to the dealer for a couple of the right wire terminals and put them on some wire. There's a link in #3. To get a version of the steering wheel stalk that has the AUTO position, I looked through car recycler listings and got one from a 2009 Lexus that fit.
