This radio is the "Digital Home Theatre" system made by Matsushita. The Toyota 5 digit reference is 56086 on the radio panel and the Toyota part number is 86100-28030 or can be 86100-28031. The Matsushita part number is CQ-BT7501A. This is the Panoramic Super Live Sound System.

This is an amplified system with 20pin connections for power and SWC input. The camera is usually a 360 camera which uses the GVIF connection.