Do yourself a favor and pull your ABS sensors after around 1000 miles and see if your seals are holding. Jack up the rear end. Support the rear axle with jack stands. Remove your wheels. Remove the 10mm bolts that hold the sensors on. Grab a flashlight and shine it into the ABS hole so you can see the ABS tone ring. Now turn the axle with your free hand and see if the ABS tone ring is lapping up any gear oil. If there's gear oil on the tone ring, the seals aren't holding.
If you read up above and check out the video I linked, you'll understand why just replacing the seals often doesn't work to fix this problem. Also, your wheel bearings might be compromised because the gear oil that was leaking past the seal can get into the bearing and slowly wash out the grease. Once enough grease has washed out, the bearing can overheat and implode in a pretty dramatic way destroying your axle and gouging the inside of your axle housing.
In regards to Toyota Techs, many of them don't know shit about this repair and what makes it work. My local dealer botched the job on my 2000 and the mechanic doing the repair was one of their top guys for this job.