Simplify the following text for a Grade 8 native English-speaking person.
Original: Toyota announced their plans to participate in F1 in 1999 , and after extensive testing with their initial car , dubbed the TF101 , the team made their debut in 2002 .
Simplified: Toyota announced their plans to join F1 in 1999 , and after a long time testing with their TF101 car , the team raced for the first time in 2002 .