You need a facia adapter unit, this will take a standard din stereo of your choice. You will also need a wiring harness adapter as Gary T says. This mates the Toyota harness with the new stereo.
The wiring harness adaptor will have to be matched with your stereo choice, a Sony harness for a Sony stereo for example. They all have different pin arrangements in the plugs.
When I had my Avensis I changed the original for a DAB unit, it worked fine, plus I had MP3 input.
I can't remember how I dismantled the dash to bolt the new facia in but I'm sure there will be a Youtube video or something.
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