Not on my 4Runner, but Toyota replaced my 1st-gen Tundra's frame for free as part of the frame rust campaign, but they did print out a report order listing parts and labor.

It came out to over $6,000 (parts and labor), besides the frame all the hard lines (brake, fuel, emissions) and front lower control arms were also replaced. They recommended replacing the rear shocks and parking brake cables at no additional charge labor-wise since they already had the original ones apart, I was able to get the cables right away and installed but by the time I received the rear shocks the old stuff was already back together and they'd have to charge me labor.