Eureka!
I found a PDF from Toyota that had the exact same table as Haynes/Chilton but different wording. Toyota reads "voltage drop" and Haynes/Chilton reads "voltage". During my test, at zero vacuum, the signal wire voltage level was 3.55 volts. As I increased the vacuum, per the table, the "voltage drop" from the reference 3.55 volts increased exactly as the table indicated (which means the voltage went "down" as the vacuum increased). So, if you change the Haynes/Chilton wording from "voltage" to "voltage drop", and realize it is the drop from the zero vacuum reference voltage, it will then be correct:
0.3 to 0.5 voltage drop @ 3.9 in-Hg
0.7 to 0.9 voltage drop @ 7.8 in-Hg
1.1 to 1.3 voltage drop @ 11.8 in-Hg
1.5 to 1.7 voltage drop @ 15.75 in-Hg
1.9 to 2.1 voltage drop @ 19.7 in-Hg
To get the right voltage, just subtract the voltage drop at a given vacuum from the reference voltage at zero vacuum (3.55 volts in my case). My map sensor works perfectly!
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