If anyone still has this issue, I fixed it on mine.
Under the seat, there is a small black box component under the seat that was getting incredibly hot. It was two plugs and two snaps to remove it and upon further inspection, the internals were fried. The Toyota part no. on the component is 87501-60050 and upon further research with Toyota, 87501-60040 replaces this piece. Here is a link for the piece:
https://parts.toyotaoftampabay.com/o...rol-8750160040
I have one on order and am going to replace the switch (84751-35110) as well in case it was sending a bad signal to make the controller overheat. Hope this helps any one else!