A Bluetooth FM transmitter is probably your easiest option here. You plug it into your phone's headphone jack or connect via Bluetooth, and it broadcasts on an FM frequency that you tune to on your factory radio. They're cheap, no installation needed, and work with basically any car from any era. The downside is audio quality isn't amazing and you're basically using an old FM radio to play digital audio, so there's some compression and potential interference depending on your area.
If you want something cleaner, look into an auxiliary input adapter that plugs into your car's CD changer port (if your head unit has one). These exist for a lot of 2008 Toyotas and let you hardwire an aux cable or Bluetooth receiver directly into the stereo's input. You'd need to check if your specific model has a CD changer port and whether an adapter exists for it - do you know which Toyota model you have? That would help figure out if this is realistic for you.
The nuclear option is replacing just the head unit itself with an aftermarket one that has Bluetooth and aux built in, but that's more involved installation-wise and costs more money. Most people trying to keep their factory setup go the FM transmitter route first since it works anywhere and requires zero car modification.