UPDATE (8/1/2009) : It appears that T-Mobile released a contacts sync app!
http://apps.t-mobile.com/ I haven't tried it, but it probably nicely solves the problem that this post solved a year ago.
UPDATE (6/25/2009) : Changed instructions and code to a bookmarklet! Much easier and doesn't require firefox! keywords: T-Mobile, google, mytouch 3g, g1
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