Great post, thanks. The Tacoma folks have this problem along with the 4Runner crowd and Tundra too. When I have time I'll research the steering shaft part #, I won't be surprised if its used across the product line certain years.
This is a common problem with Many vehicle brands. There is a company called borgeson that does nothing but steering. I haven't looked to see if they have one for Toyota, but I used one of there steering shafts in a Dodge Ramcharger and it was really well made and eliminated the rag joint as well as provided additional length via a splined sliding end like a driveshaft.
http://www.borgeson.com/
Looks like they have no native Toy options, but take a good look at their design as I am sure that those so inclined could adapt one of their shafts to our rigs.