well you might find yourself next to a mcdonalds and it'll tell you to drive 40 miles to get to one LOL (just keep that in mind) Dont get me wrong I like my D3, but you should know it's limitations 
For example the 1st trip I took with my D3 I was low on gas at one point (now granted I was in the middle of nowhere) but the D3 said the next gas station was quite a good ways away. I passed 3 or 4 gas stations on my way to the one that it told me was the "closest". I didnt stop at any of them because I was on a highway and I didnt know they were there until I had passed them.
Also sometimes it takes me on some really wierd roads to get to places that just dont seem to make any sense. For instance it took me through a neighborhood only get back on the main road (on the other side of the neighborhood) that I turned off of to get into the neighborhood
On the plus side though I thought for giggles Id let it give me directions to a place that I had been to 2 or 3 times before and knew myself how to get there. It was about 45-55 min drive. The D3 found me a way there that was about 10-15 minutes shorter. 
You'll get used to it.
Heres a link I found to your manual
http://www.scionlife.com/tech/electrica ... l_tc06.zip
From what I can see in there the yellow wire on the radio connector seems like the best option. Should be right there on the plug closest to the passengers side (looks that way in the manual anyways Ive never been under the dash of a tC)
Good luck!!