Unlock your hubs, if locked, which will remove worn out/bad Birfields from the equation (for now).
Jack it up and shake each front wheel (don't need to pay a shop for this). You should not feel perceptible in/out play of the jacked up wheel/tire, and it should spin smoothly (minus any brake pad drag). If the wheel bearings are very loose, you should not drive it.
Usually knuckle bearings get notchy, but don't get really loose unless the axle is horribly abused or worn. How many miles on the truck? Most have never had knuckle bearings replaced.
Don't rule out tie rod ends, and all the other front end parts that could be knocking or loose. And if you take this to a dishonest shop, you'll be looking at huge dollar signs for work that may or may not be valid. You need to get hooked into a club or community of Toyota people who can quickly analyze where you're at.