Do you have aftermarket upper control arms (UCAs) already?
If not, it's difficult to imagine how you're getting 5+ degrees of caster with a slight negative camber on a 3" lift. The amount of available positive caster and negative camber decrease as you lift the suspension higher. Aftermarket UCAs relocate the upper ball joint so that stock caster and camber specs are attainable with a suspension lift.
In any case, your camber and toe numbers look good, and there's nothing wrong with a high caster number if you like the way the truck drives. The need for aftermarket UCAs to restore caster is a matter of individual preference, whether it's a suspension vendor or a "keyboard expert" making the call.
Caster influences steering behavior near on-center. The more caster, the more the steering will want to self-center. Sure, Toyota provides specifications, but it's really up to you to decide how much is enough. Being out of spec on caster doesn't hurt anything; it can just make the truck unpleasant to drive. If you like the way it drives with 5+ degrees of caster, there's no reason to change it.