Today I insalled a rack in my F150. Maybe the same setup can work Toyota.
Check https://www.swagman.net/products/pick-up-truck-racks/
(the “Patrol” is for thru axle, approx $290. It costs a lotmore than the “Pickup”, approx $110) I saved $150 by buying the “Pickup” version & changing the L shaped section where the axle goes through with aDelta thru axle bracket
OR https://www.rockymounts.com/collections/adaptor-and-truck-mounts