Welcome to JustAnswer, my name is Dan and I'm here to help get your problem resolved. There is a TSB toyota put out for this issue. The fix is to install new wiring hardware, new battery tray so a bigger battery can fit, and then the new battery. Here is a copy of the tsb, let me know if you have any questions at all. Thanks.
Thanks for update John, I wanted to make sure that was done as it was a very common problem. Does vehicle start without a jump ever? If not, battery is dead. Check it out and let me know. Thanks.