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Does anyone know if programing a key is possible without dealer assistance?
You need the dealer to provide you with the access code for your car, based on VIN.
You need the dealer for nothing, provided you have a PST2 or PIWIS diagnositics computer that allows you access to the car's security system to introduce the new key's ID to the car's security system.
Just go to the dealer. They charge half an hour labor and you're on your way. Make sure you bring all of your keys because there are only 4 slots to program keys and they may wipe out an existing key to make room for the new valet key.