This is the only part of the install that is even somewhat tricky, and that is only because it requires you to do a little drilling... but don't worry, if you are willing to tackle a Kullen, Herdal or Hemnes then you should feel emboldened here as well....
(and if you no idea what I am talking about please close this window and go watch Deadpool immediately).
As you will see in the first two pictures below, there are two mounting points for the sliding rail sub-assembly nearest the cargo door opening that are hidden under the floorpan of the SR5 cargo area. Luckily for you, Mister Toyoda knew you were a crafty little devil and so he left the threaded mounts there under the pan - so all you need to do is drill through a relative thing piece of metal to access the mounting hard points (see pics 18 & 19). Let's get to it:
1) Place the sliding rail sub-assembly into position in the cargo area. The two mounting points nearest the back seat are pretty obvious. You will have it in the correct position if the round linking bar between the two sliding arms is nearest the back seat and your afore-mentioned bolt holes line up (see pic 20).
2) Bolt the sub-assembly into position with the holes that are there nearest the seat. Pro-tip: make sure that thing is centered so that when you start drilling the other two mounting holes it all lines up.
3) Bust out that drill and start with small pilot holes for the two mounting points nearest the cargo door. Then gradually work your way through a couple of larger bits to make sure your hole is perfectly positioned over the threading mounting points you are accessing. (see pics 21 & 22)
4) Go slow. Take your time. Don't rush. The last thing you want to do is mar the threads with your overzealous drilling. The metal of the floor pan is thin and it won't take you more than 20 seconds of drilling (maximum) to break through.
5) Clean up your holes and then insert your remaining two bolts to finish attaching the sub-assembly. Bam! (pics 23 & 24)