So I did purchase the 95-8202 after my first attempt with the 95-8210 ... I tried to use the factory brackets, but without being able to attach the trim kit to the brackets, the trim was loose. So I bought the 95-8202 thinking that would help. It does attach to the factory bracket, but the trim is rounded on the top and the bottom and didn't look right in my 4Runner. So I went back to the 95-8210 and used the brackets that came with the kit so that the trim would attach to the bracket. What you're seeing is the end result.
Crutchfield actually recommended (and sold me) the 95-8210 based on my specific stock radio and interior trim. My understanding is that some combinations do better with 95-8202, and some do better with 95-8210. There are others on this forum that have enough knowledge of the differences to be able to give you a complete rundown, but I can't. But I can say that what Crutchfield recommended actually worked ... they may have taken a while to learn the nuances of the 4th Gen, but they seem to have it pretty well dialed in now. So if they're telling you to go with 95-8202 for your specific vehicle, that's what I'd try first ...