They just changed the way you order. You choose limited or grade. If you choose grade, you can then add the SR5 package or the TRD off road package. I drove a new 2010 Tundra Grade w/ TRD Off Road 4WD, 4.6L V8 yesterday. There are several SR5, non-off-road Tundras available locally.
That is the one I drove. It has power bucket seats w/ laptop console, fog lights, bluetooth, and all that other jazz that isn't on the no option truck.
Here is one at another local dealer that is a Tundra Grade 5.7L 4WD w/ SR5 package and optional 18" wheels (I ran the VIN in the TIS at work and confirmed it has the SR5 package).
The Tacoma would be the same way if they had a Limited. The Limited and Grade are trim and SR5 or TRD offroad/sport are option packages.