Thank you for using just answer. Sorry to hear of this issue.
Is this a shadetree mechanic doing the repairs or is this a dealer?
If not a dealer- do you know what BRAND plugs and wires were installed on the truck?
Kind of my feeling as well....there are a few common issues that can cause this but that is why I am asking specific questions here.
First check the spark plug condition and brand- certain plugs such as BOSCH commonly used by aftermarket shops are NOT good on toyota engines, i only recommend that NGK or DENSO brand plugs (just standard or platinum) be used on this engine, I get a ton of intermittent misfire issues in my shop related to junk spark plugs.
Second if this still is an issue the coils and fuel injectors need to be checked, I see some issues with obstructed fuel injectors on these sometimes, if this was an issue with a primary sensor or another item you would have misfires on multiple cylinders.
It is ok to drive with no misfires, it is not ok to drive with misfires.
If the issue and the light come and go this is an intermittent issue such as a restricted injector or a plug quality issue. There are 6 injectors on this engine, the cleaning may have knocked deposits loose and now causing issues.