I think this is a "MEH" moment. Some people care, others don't. It has no impact on driveability so Toyota moves on.
Every SUV I have owned did this. My 84' Runner, my 90' Runner and so on. You have all this built in expansion in the system for the 4x4 components, much like expansion joints in a bridge, that allow some give and take. Every now and then it causes a little thud. Doesn't bother me in the least. I do grease it up and it goes away for a long time. If I notice it again and I happen to have 5 minutes, I poke my head up under with my grease gun and fill it up.
I think Toyota probably doesn't simply consider it an issue. Kinda like brake squeal. Brakes Squeak. Some more than others, some not at all, but it isn't an issue of safety unless you are hearing the "screech" of the warning tab.
We all hate it, but we have all had those pads we bought that just seemed to squeak a bit more than the others. Happens. Part of life. I am glad to see that the Lexus driveline swap is one solution for those who it really irritates.
Me. I will save that money for beer.