Toyota did help sponsor the TTORA Rubicon run last year so I believe Toyota is slowly warming up to the offroaders.
Hopefully over time, it'll happen.
If you do plan to do the Moab run w/ TLCA, there will be 1 4th gen there to do the moderate runs. He does not frequent this board but if you are interested, I can get a hold of him and both of you can talk about the proposed trip.
GOod luck