I am writing this to save someone a headache of a $140 bill in the future if they are having this issue. I couldn't find anything online for the 5th gens documenting this.

I have a 2017 TRD Off-Road Premium with 161k miles now. I haven't had a lot of issues but on a recent trip south to Tennessee, my AC stopped working. I was driving and it got warm for a second and I looked down to see it indicated the compressor was off. Immediately checked all my temp levels in my Scan Gauge II and everything was fine. Thought to myself either the compressor was bad or I have a leak and it is a safety shut off. I attempted to run it several more times. It would run cold and blow out normal fan speeds and shut off after about a minute. This diminished to about 10 seconds with no cold air. I took it to Toyota this morning to have them perform a pressure test and make sure it didn't have any leaks and it passed the test. They ran a deep scan on their code reader that showed an electrical issue. The AC Compressor relay was showing that it was malfunctioning. They quoted $170 for the relay. I asked for the part number, laughed, and said I will grab it at Napa for $23. Went to Napa, popped it in, and my AC is working again. In the end, it was a bad relay. I hadn't thought to check that first but now maybe this article will help someone else.