I don't know anything about the 2020 4Runner system, but I do know several of the other ones I've seen do record, but locally. The Corvette even puts it on a SD card so you can access it easily.
I have a bit of experience with computer security and can tell you some scary things, I didn't enable my Toyota Sense because I knew things about it I didn't like. But NONE of the systems I've came across uploaded video, they just kept it locally.
Now, if you get into a wreck, can that video be legally obtained? Probably, just like the black box data containing telemetry. That doesn't bother me however as I don't drive like an idiot. I actually have my own dashcam setup (front and back) to capture those that do drive like idiots.
Which brings me to my last point. If you think you're NOT being video taped while driving because you don't have a camera in your car, you are increasingly wrong.
Points to take away:
1. In car telemetry and video tracking isn't a bad thing.
2. We need to start demanding gapped systems between car controls and over the air (OTA) system connections. I know it's nice being able to unlock or start your car with a phone app, but you'd really be surprised how easily that can be abused.