You can try to get one of those bolt-out tools but you will need to find a replacement bolt because those won't put bolts back in.
Something like this:
http://www.irwin.com/irwin/consumer/...rwinProd100512
You may be able to get the bolts from a Toyota dealer, but they may not keep them in stock and you'll have to wait a few days for them to order the part.
I used a bolt extractor to remove my differential fill plug after my wrench splayed and rounded the plug. I had to order another plug from Toyota to replace it.