If you plan on keeping it to 300k or more then the front end wear parts including cv joints and wheel bearings will need to be changed at some point - might as well be now.
However, if you are happy if it lasts 225k to 250k, I’d only replace the parts that are needed and just clean and regrease the cv joints. The exception are wheel bearings if it’s a unitized hub - either figure out if there is a way to get grease in there or replace them soon. For instance a 2006 f350 has the wheel speed sensor screwed into the hub on the inner side of the grease seals, so when the brake rotors are off I’ll put enough grease in the speed sensor hole to squish out the bearing seals slightly. Toyota support groups would know this.
OEM parts are expensive - a simple dial indicator on a magnetic base can be used to measure movement in wheel bearings, tie rod ends and anything that you would normally just shake by hand to see if there’s movement. The number might not mean anything now, but when both wheel bearings goes from .005” of play this year, to one developing .040” and the other is still .005”, something is going wrong and it might leave you stranded.
Above 175k miles everything/anything on the truck might need to be replaced at any time, so start a savings jar for repairs. An old time alternator shop could simply regrease the alternator bearings and you’d be good for another 100k there, but even alternator shops today probably only replace bearings now. Timing belts only last so long. Toyota is becoming famous for universal joints that aren’t greasable, so either press them apart, clean and add grease the hard way or be prepared with replacement parts - support bearing for two piece driveshaft is the same.