Toyota is the last company I expect to bring something new to market well. The last time they did that it was the Prius and it was kind of a fluke IMO.
Toyota's entire market is convincing people (the bulk of whom will trade in in a few years) that a Camry/4Runner/Sienna is worth substantially more than an Altima/Tahoe/Pacifica based on a bunch of promises about reliability after 150k that the statistical first owner will never see (spare us all the anecdote about your relative who trades in at 300k on the dot, I have one of those too). If robotaxi fleets become the game then Toyota is gonna lose because commercial buyers who buy us a fleet of whatever has the lowest all things included TCO over 3/5/10yr tend to buy a hell of a lot of Chrysler 200s, Nissan Sentras, Chevy Colorados, Chrysler Pacificas, Ford Transit Connects, and other not so premium vehicles.
If FSD tech is viable in the next 20yr I'd be very surprised if the reality of what that will do to Toyota's business doesn't keep them from going all in enough to bring a viable version to market early enough to get a good market share at it.