At least you have door courtesy lights! Gen4 doesn't have them at all.
I did something a little different with my Gen4. On the Gen4, there is a sunglass holder/ garage door opener holder in the ceiling between the sunvisors.
Unless a gen4 comes with a mooroof, there are no map lights, just the holder. Mine has no moonroof :-(
What I did was to get the sunglass holder/garage door opener holder from a 1st gen Tundra which comes with maplights even without the moonroof. I enlarged the opening in the headliner to accept the unit from the tundra.
I wired it up to the stock dome light so that these come on when the door opens also, as it does in a Tundra. I can also turn these on independently when the doors are shut by pressing on the lights themselves.
Notice the switch that reads OFF and DOOR. This switch determines if the lights come on with the door opening or not.
I don't rememeber what this area looks like on a gen3 LE (I think it was blank, unless it has a moonroof), but you might be able to pull of something similar with maplights from another Toyota or if the XLE had maplights, you might be able to rewire them to work with the doors