A dealer can probably cut a new key based on the VIN, but it will cost a bit more than usual. Hopefully it would be for the doors and not another one for the ignition! Certainly check with them on it, but my guess would be about $50 for a key. And you would still have two keys.
You might just check with a locksmith or a few to see if they can re-key the car locks to be the same as the ignition. I have a small, family owned locksmith that re-keyed a new door lock for me on my Mustang. (Thank you IDIOT that tried to open the lock with a screwdriver!) I took it out, he changed the pins on it to match my door key, and then I re-installed it. I only paid like $5 for his work, but It probably is more now. I doubt it would cost more than $10 each though if you bring the cylinders to them.
I just looked it up, and removing the door lock cylinders is a VERY easy job. There is a plastic cap in the door jamb next to the lock cylinder that has a torx head screw under it. That screw holds the lock cylinder in place, and once you remove the screw, the lock can be pulled right out. Take the cylinders to the locksmith and have them re-keyed to match the ignition key, and then slip them back into place and re-install the screw and cap. A locksmith probably would not charge much to remove & re-install the cylinders if you don't want to do it yourself. Maybe $10-15 each?
If you do want to do this EASY job yourself, this video shows the lock removal at about 4:00 minutes in.
https://www.youtube.com/watch?v=79PUk7zEL44" onclick="window.open(this.href);return false;
If you are calling around for prices, tell them you can bring in the two door lock cylinders from a Toyota and you want them re-keyed to match the key you have. That should give you the best price for just the re-keying labor. I would not bother with the hatch one since it takes a bit more work to pull it out, but that is up to you.
Good luck!