No, it doesn't sound right. If it is right, then several people are getting their T4Rs for under invoice. $2,700 off is only 6%.
You'll get a better price next year when the 2020s aren't the new thing that just hit the market. If you don't need a new vehicle immediately, just wait until then and order one spec'd exactly as you want it. When I was casually shopping in July I got several quotes that were just over 11% off (on a 2019 model). I didn't bite because I wanted to see what the 2020 model was going to be like. I don't regret waiting because I'd rather have a 2020, but the earliest I'm going to shop for one is next April.
BTW, MSRP on a 2020 TRD-ORP with no options is $41,090.
Good to know. I will wait to hear back from the second dealer to see what he states for the invoice price.