Could be.
It could also be that they are corroded inside and that they need to be removed, cleaned, tested and then put back on if they work properly on the bench.
There is a reason why Toyota suggests in the owners manual to engage the lockouts once a month and to operate the vehicle for a few miles with the front axle engaged.
Replacing the rear axle stud should not be that big of a deal. You should be able to drive the old one out and pull the new one in. However, the wheel studs typically fail due to the lug nuts being pulled up too tight and then rusting into that position. I would inspect the other five and replace them all if any others appear suspect.