Huh... this is the second thread on checking your oil I ran across today, weird.
Anyways, I noticed a few people mentioning that they check the oil level after the vehicle has sat for a long while; unfortunately that's not correct.
From the unholy text that is the Owner's Manual itself (this one is from a '19 4Runner, but this applies to basically every Toyota ever made in the last 4-5 decades)
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If you're having trouble seeing the oil sheen, I have used a very coarse file or sandpaper in the past to put my own crosshatching in between the Low and High marks. Spraying a little brake clean on the dipstick and wiping it off sometimes helps too. You're just looking for something to catch the oil sheen evenly, where it starts to break apart from a uniform coating is the oil level (for those reading this thread who ever wondered how to check your oil).
I will also throw in my two cents that temperature of the oil is not as critical as making sure you run the engine for at least 10-30seconds to allow the oil passages and oil system to fill up and pressurize. Letting the vehicle sit allows the oil to drain from the upper end back into the pan, Toyota wants you to check the oil level after the vehicle has "primed" itself with oil, not after all the oil has drained out of the passages and such. Now ideally get the vehicle to operating temperature to check it accurately, but I have noticed that despite the thermal expansion (I think it's something like 6% for engine oil? I could totally be off on that, so any fluid engineers feel free to correct me) that if you shoot for the middle or so for the scale that when warmed up it usually gets close to the full mark. Basically if you check the oil cold and you have it in the bottom half of the dipstick you should be pretty close to full when it's hot, this is of course just a quick and dirty way to do it if you're in a rush and can't wait for it to warm up. Toyotas are somewhat forgiving if you're a little under or a little over, most of the time you just get some of that extra oil getting sucked through the PCV system into the intake and burning up, I don't think I've seen a Toyota engine that had foaming issues from being overfilled in a long while and the last one was when we had a guy drain his trans by accident and add a full oil change on top of his already full 4.7L and that thing survived the ordeal fine after we drained and adjusted the oil level.
Post Note-
If the Dipstick is having trouble seating/unseating, check to see if the tube end and O-Ring are dirty/crusty. Most of the time I find the O-Rings get hard and nasty, throw a new one on from an O-Ring kit and give it a light coat of engine oil and it should seat/unseat smoothly!