I found my 2006 V6 SE w/ sunroof on Autotrader.com for a very good price. If you haven't already, set up a profile w/ your search criteria at both Autotrader.com and Cars.com - you should be able to find what you want.
The truck has only had two true owners - "owner 2" was the Idaho dealer who had it in inventory for 2 mos before selling it. See the 10-7-05 entry:
"Dealer took title of this vehicle while it was in inventory"
IMO, $16,900 is about $4k too high for a 2004 SR5 with almost 100k miles.
Do searches on Cars.com and Autotrader.com for your area. You can specify year, engine, distance, color, etc. I found my 06 SE on Autotrader.com about 200 miles away for a very good price.
If you register at http://www.toyotaownersonline.com and enter your VIN, it will also show vehicle maintenance history for dealer-performed work on your truck.