I found that, with both my vehicles, (the Jag and a Chevvy Venture), I had to use the second (2 people) method outlined in the manual (i.e pushing the button on the garage door opener motor unit itself and programming the button in the car that way). I chose to park the vehicles in the garage itself in case the signal range during programming was much shorter for some reason (obviously don't park in the path of the door unless you were planning a bodywork modification).

Jaguar - 2004.5MY spec

Garage door opener - Craftsman, age unknown but the house is 19 years old.