Toyota remote programming - old cars - Does the Toyota techs at dealer slamming doors

[Weasel3]

Just a simple question, these old Toyota's

I am tired of slamming doors - key in and out. Sometimes pushing buttons Lock/Unlock 5 times. Doing remote on old stuff.
Sometimes work, sometimes not. A headache to go trough .

Do the Toyota tech guys at the Toyota dealer really do this, when an old Toyota needs a new remote?

If I start working with my Techstream cable (which I never use).
Can I avoid this pain, on the old cars like 2003 models etc.