I agree, power everything directly off the battery. Don't mess with existing wiring for your primary power.
For ignition switched circuits, tapping in a low current draw isn't a big deal if it is done right, and you design accordingly. I do not trust fuse taps in any sort of application where critical equipment is involved. Unless you really look at the supporting wiring, adding more current consumption can create issues. Best to contact the manufacturer and see what they suggest.
Not sure about Toyota's, but on some GM and Ford trucks they either have circuits set aside for this stuff, especially on the 3/4 and 1 tons. On lighter duty trucks, you can sometimes find unused circuits. On a 2007 Chevy Colorado I have at work, I used the sun roof circuit. Since the truck did not have a sun roof, the power wire for that was taped off in the A pillar on the drivers side. I extended that wire to run the ignition sense lead on the two radios. All I had to do was add a 3 amp fuse in the underhood fuse box.
Not sure if the Toyota's have anything similar, but sometimes you need to start looking at wire diagrams and see what you can find.