Short answer, not really.
behind the lamps is a great spot for not only its close proximity, but also should those tapped wires be damaged, that section of factory wire can be easily repaired.
Going back further, you will find how Toyota likes to switch polarity and then the wiring starts to share harnesses with many other systems.
I recommend keeping it easy, and (I say this as a friend) anything under a modern Toyota is going to be tight, just kinda have to work with what you have. Removal of a battery should not be an issue.
I like to stagger the taps up and down the wires, so that way you don’t have all the taps in one little spot bunching. Makes it a little cleaner, and pack in nicer.