The windings should not be black. That indicates either a short or the motor was stalled at some point and overheated.
To check out the windings:
At the base of the motors armature is the commutator where the brushes ride, the contacts on the commutator work in pairs, each pair should have continuity to each other but not have continuity to the armature nor to any other contacts, the pairs should have a consistent resistance, if one set of windings has a lot more or a lot less resistance it can indicate a short or partial open, use very fine sand paper to polish the commutator you do not want to change the shape or make it out of round you just want to clean the surface, afterwards take a pick and clean out the grooves between the contacts to make sure no conductive dust (brush material etc) is shorting between them, blow off with compressed air if available, the wires in the winding look bare but are not, they are coated with a thin insulating varnish, try not to disturb this varnish,
If the windings are questionable a good shop can put the armature on a tester called a "growler", most towns have an alternator and starter shop, this would be a good place to start to find someone to rewind the armature, you want to find a competent technician, those are getting harder to find this will cost some money but should be much less than a new actuator from Toyota.
Some other things to look at, in the cover of the motor are 4 magnets, are you certain that none of them are loose or have shifted?
Where the armature shaft sit sin the housing, at the far end from the motor on the other side from the worm gear can get plugged with silt, clean and lube this area with grease along with the other end in the motor cap, reassemble the motor into the housing without putting in the big gear, see if it will spin on 9v, if not try loosening the motor cap screws slightly to take the bind out of the shaft see if it will spin again,
Can you take any pictures of the different parts? Might help to determine condition.