Well, the Cressida used the A340E auto from '85 until.... well, I don't know when... so, I don't think you'll have any trouble mounting a W58 to it... I don't know what manual transmission was available with them or if it was even an option; If it was an option I suspect the W58 is what it would be. I have no idea what you'll need for pedals, but a little bit of work and you'll get something together.
I see no reason at all why the ECU wouldn't be compatible.
You might ask these questions in a MKIII forum as well.
spartan0622, you just looking for a post count bump or what?