Not sure if anyone else has tried this, but I just had some success connecting Toyota Techstream to my E21.  Techstream is the software that Toyota dealerships use to run diagnostics on vehicles using a USB - OBD2 cable and a laptop.  There are some sellers on ebay that sell a "techstream mini vci" cable for around $20 that works alright with Windows XP.  It's a great alternative to the "real" cable which is closer to $1000.
Once you have Techstream up and running you can follow the following steps to access live data or read codes 
1.  Install Techstream Japanese region mode ( this can also be set from one of the menus after install )
2.  Select vehicle manually as Toyota Celsior, 1UZ-FE, W/o Push button start
3.  Select first ECU box ( name is empty )
4.  Now you can read codes and live data.  See the screenshots below.
I haven't had a chance to run this while the engine is running, but the live data values seem reasonable except for the transmission related fields, etc.  .  I plan on keeping my Epic for a long time so its a little relief to know that the ECU on this thing isn't a complete black hole ...