I just had an idea (which I think I'll try on my car too):
Find one of the narrow coolant hoses running across the engine bay, if any (in the Prius, there's one that runs across the front of the car, from one of the overflow tanks to the radiator). Slit an oversized duct lengthwise, wrap around the coolant line, tape up. Easy air warmer. It will work best on trips long enough to get the coolant up to operating temperature, and won't be as effective as a dedicated intercooler because of the insulative properties of the rubber, but also not as complicated or expensive. And you could still route the end of the intake duct to the catalytic converter if you want.
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