Pairing iPhone 3GS with my toyota camry 2005

I am looking to connect my iphone 3GS with my car audio system. Have a Toyota Camry 2005.

1. My car doesnt have aux input or USB input.
2. It doesnt have a cassette player - so I cant use a cassette adapter either.
3. I dont want to use an FM transmitter - quality is bad most of the time.

So what is the best solution in my situation. Before I go to a car audi shop, I want to see what others have done that works. Please share your experiences / suggestions.

Thanks,
Nav