Cheapest way is using ELM 327 and ELMscan toyota (i have full version if you want let me know)
Torqe pro can only diagnose engine. ELMscan toyota have abs/vsc/trc , engine , cruise , immo, etc.
Techstream is a service program something like INPA , ISTA for bmw, but veeeeeeeeeeeeeeeeeeeery poor and slow :o Works on win xp - 10 32&64 bit.
In my opion the best way for code , diagnose , other things is Launch X431 working on mobile phone. It is very big tool and i have always it with me, cuz program is on my moble phone. Working very fast , without any problems. Program is working with many brands.