All 2008+ Toyota / Lexus / Scion vehicles will use the CAN protocol.  The following is a list of Toyota / Lexus / Scion vehicles that used the CAN protocol prior to 2008.

ModelYear
4 Runner2005+
Avalon2005+
Avanza2007+
Camry2007+
Camry HV2007+
Corolla2008+
ES3002007+
FJ Cruiser2007+
GS3002006+
GS3502007+
GS4302006+
GS450H2007+
GS4602008+
GX4702005+
Hiace2006+
Highlander2008+
Highlander HV2006+
Hilux2006+
IS F2008+
IS2502006+
IS3502006+
IS350C2009+
Land Cruiser2006+
LS4302004+
LS4602007+
LS600H2008+
LX4702006+
LX5702008+
Matrix2008+
Prius2004+
Rav42006+
RX3502007+
RX400H2006+
RX450H2010+
SC4302006+
Sequoia2005+
Sienna2007+
Solara2007+
Tacoma2005+
tC2007+
Tundra2005+
Venza2009+
xA2006+
xB2006+
xD2008+
Yaris2006+