You can find the part numbers for most Toyota/Lexus connectors in the Toyota wire harness repair manual:
https://www.toyota-tech.eu/wire_harness_rm/RM06H0E.pdf
That will also show the part numbers for repair wires with the wire pins attached. Most of the connector housings, repair wires with connectors, and other miscellaneous wiring parts are readily available from your Toyota dealer. The parts department at your Toyota dealer can also look up wire harness repair parts and instruction in the TIS, but many don't want to spend the time doing that.
Each of the connectors on your vehicle has a connector designation number which is shown on the wiring diagram for the vehicle, but most dealers don't like to share that info with customers. Knowing the connector designation number, you can cross reference to the part numbers.