OBD Fusion is a good choice for ios and it offers enhanced diagnostics (on abs, airbag,etc) for toyota. I use veepeak obdcheck ble with it and so far I'm happy with it.
This bluetooth one will work with ios: https://www.amazon.com/Veepeak-OBDCheck-Bluetooth-Diagnostic-Supports/dp/B073XKQQQW/ref=sr_1_2?ie=UTF8&qid=1531904397&sr=8-2&keywords=bluetooth+obd2+ios
