That sucks man.
I remember visiting my dealer years ago and seeing a stack of brand spanking new beautiful frames sitting in the bays, but outside of the official recall (didn't include 4runner), I'm not sure anyone has had success with Toyota for a replacement.
And I know you were asking about help from Toyota, but
several brave souls here have attempted it themselves with success if that's your flavor.
Anecdotal replacement costs (don't quote me, I just remember seeing astronomical numbers) from a dealer are like $10k plus...