I have stripped cars to the bare metal and rebuilt from scratch.
I think redoing your upholstery is the best idea on an old car. There is a lot of mold and mildew stuck under the carpet, but for an 02-03 model, I'm not sure if it's worth it.
If you still insist on it, redoing the carpet isn't bad. I imagine that a new factory carpet will fit best, but will cost you a lot of money. I don't know if you have side airbags in the seats. If you do, it's best that you let the dealer reupholster the seats.
I DO NOT, repeat DO NOT recommend steam cleaning your car's carpet. There is a lot of electrical parts that you can easily damage. If you insist on doing it, at least remove the carpet from the car first.
Can you take a couple of pictures?
I would recommend calling a local upholstery shop and see what they charge. If you have side airbags, let the dealer remove the seats and reline it. While the seat is out, you can have an upholstery shop strip the car and redo the carpet.
Most dealers usually outsource this type of work to an upholstery shop any way. Call your local Toyota dealer and find out.
If you're mechanically competent, it's actually quite simple to remove the carpet. You just unbolt the seats and center console. I don't know about the Matrix, but if you don't have to remove the dash it's pretty easy.
As an alternative, if you can sell it and buy a smaller car like one of those Civics I always talk about, you'll save a little bit of money.
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