Many people don't know it, but you can actually buy just the rubber part of the wiper (sometimes called a wiper refill) from your Toyota dealership parts department. And they have these for the windshield and the rear wiper positions. You do need to still have the original equipment Toyota wiper blades on your vehicle for these to fit though.

To replace just the refill, all you need to do is remove the blade(s) for better access. Then you squeeze the stainless steel side rails together with a pair of pliers to allow you to slide the refill out of the blade. Swap the 2 stainless pieces over to the new refill and reverse the process.

Yes, buying a complete wiper blade is faster and a bit easier to change, but it's a lot more expensive. My personal experience shows that the OEM refills last longer too.