Pretty sure the difference between the fox on 2019 trd pro and bilsteis on previous pros is negligible especially when it is on road. They are both entry level off road suspension setups.
I've driven both off-road, including a Voodoo Blue 19. Not back-to-back on the same roads, though. But I have pounded around agressively in a 2019 4Runner w/Fox and came away very impressed. Similarly, I've driven a TRD Pro Tacoma w/Fox (they've had them for two years already) and it stood up very well when pushing pretty hard out near Barstow. Entry level? Better than that. Pro Racer level - not that good. Fine for most mortals.
The Fox shox have a distinct advantage over the outgoing Bilstiens - multiple zones of bypass. Theoretically, they can ride a bit softer over the small stuff and add damping like crazy and they approach the end of the stroke on the big stuff. The old pro Bilsteins did not have that functionality. They have a single damping zone, so they can feel stiffer on the road they you might like because they have make the damping required to do the business off road.
In short, both have velocity-depenedent valving that increases with impact speed, but the new Fox setup also has position-dependent damping that varies based on how far they're compressed (or extended) away from the midpoint at which they run on smooth roads.
More than anything, if you have any inkling that you'll ever strip the TRD Pro suspension off and go with something like King, Icon or whatever, do yourself a favor and start with a TRD Off-Road instead.