Hello everyone,
For anyone having JDM (Japanese Domestic Model) Imported vehicle please install CarScanner App (android) by 0vZ on Playstore. Goto "Settings" > "Connection" > "Select Connection Profile" and select Toyota JDM CAN protocol. You can use any cheap ELM hardware (bluetooth or WiFi).
This has been tested on my Toyota Vitz 2006 (2SZ Engine - 1300cc) and works perfectly. You don't need to provide any initialization strings. Torque App does not has this option of Toyota JDM CAN protocol but CarScanner does.
Hope this helps someone.