My Hundy recently going through the very same - cranks but won't start. I thought it could be a fuel pump issue as well, but in reading here I discovered the "immobilizer issue" which describes the same starting problem, cranks but no start.
Personally I don't think it's an actual "immobilizer issue" since not all 100-series have the immobilizer, I think it's an electrical contact issue inside the fuse box, since the remedy for most everyone seems to be messing with the 20A EFI fuse circuit. Why this particular circuit brings down the greatest vehicle series made on Earth, I have no idea (electrical gremlins man, electrical gremlins).
Anyways, it did it to me again last week and this time I couldn't get it to fire after multiple attempts - so this time I read more and decided to pull the 20A EFI fuse (which looked good visibly) slightly tweaked the prongs with my pliers to make the fuse wedge into the holder a little bit tighter and the vehicle fired up as normal and has been acting like nothing happened since then. I would try the EFI fuse.
Good luck!
So....in just reading here on Mud, I see it's quite a common problem -- does Toyota know about this common issue we're having?