File a complaint here @ NHTSA and get a campaign started.
Apparently Toyota is not going to step up and fix the issues unless they have enough complaints and the government feels that there are enough incidents to pose as a safety concern.
https://www-odi.nhtsa.dot.gov/ivoq/
Look on the Left hand column and click "File a Complaint"
My best recommendation to determine if your frame is actually rusting from the inside out is to probe inside the access holes (both sides) that are found along the frame rail and/or run a compressed air line inside to see if any big chunks of rust come flying out.
My frame looked totally fine until I further examined it. Major scaling on the inside. Outside looks perfect. Well, it seems that the inside rotted so bad that my inner frame rail on the passenger side near the rear track arm had almost rotted through. It is soft like a sponge, but yet the factory Toyota frame paint held it together. Poking it with my finger and it all crumbled