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Toyota couldn't ignore these (voluntary) standards given that MISRA-C nor the earlier DO-178 didn't exist at the time the code was developed.

MISRA-C dates from 1998, and DO-178B, which was the previous revision of DO-178, dates from 1992.

Yeah, I mistyped (should read "...later DO-178..."). You're quite correct that DO-178B was around then, but the C revision was not.

According to testimony, Toyota's coding standard was in place in 1997, before the first MISRA-C publication.

First, you're ignoring the words "such as".

Second, DO-178 was originally published in 1992.