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Very common on the Tacoma (I've spent a lot more years there). I had many come off. Was more of a problem with the Tacoma lugs over our '05 HL lugs because the Taco lugs were short which didn't sit far enough inside the lug wrench, whereas the '05 HL had the long lug nuts ones and had a much more snug fit inside the wrench. I just looked at the '10 HL lugs and they are also the short ones which explains your problem.
To fix your current situation, just go out to eb@y and get some OEM Style replacements. A lot of times, you can find a set for under $30. They're actually a solid one-piece design that are of far superior quality than the stock two-piece lugs. They won't ever come apart on you!
If you keep the original lugs on, my recommendation is not to use the lug wrench and instead buy a torque wrench with a socket (the route I took with the Taco). Keep that in the vehicle. Why? You don't want to get a flat on the side of the road and not be able to change it. I ran into these problems in the garage trying to rotate the tires. Not something you want to run into on the side of the road. On the Taco, the outer "fake" lug nut cover was a 21mm nut and the "real" one underneath that was solid was 20mm. In some cases, the outer lug would completely come off. So then the stock lug wrench wouldn't fit. The second problem was when they warped. Not all of them will come off. Some of the fake covers are on better than others and will instead warp. When that happens, you'll need to find a slightly bigger socket and pound it onto the nut in order to remove it (or buy another tool out there that will get it off). Then you get to find a way to get the nut out of your socket. Either way, you don't want this happening on the side of the road. Why Toyota didn't make a lug wrench that actually fit the lug nuts properly...
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