I agree with you my built up rubicon lets me use 4 lo not only for climbing but also for braking down hills and driving at slow speed shifting into 2,3,4 moving as you said about 1500 rpm . The Tacoma is a different animal.
I look under the skid plates when I do the oil change on my Tacoma and jeep. I only drop the whole plates when I change the transfer case oil. Not really much to look for unless you really smashed them on some rocks or went through a lot of mud.
I have an RCI front skid with a hole. I can stick my hand around the edge or through the hole and screw on my Femco hose with a 45 degree and put the hose through the hole and into an old oil bottle. No fuss or mess.
Have you checked out the OME TRD suspension lift kit. It can be ordered now and has new UCA, shocks, spring and if your paying to get it installed have Toyota do it you have no warranty issues.
Thanks for the kit part number. I will take a look. Are you installing this or is the dealer? Keep us posted with before and after pics and measurements and your review.