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Since you have a TRD package, you already have the better shocks from the factory. Only the leaf springs would change.
Keep in mind that a TSB is not a recall, so the dealer isn't obligated to give you anything. If you are having legitimate problems with the bed bottoming out under load, then replacing the leaf springs is a solution per the TSB. If you want the work done under warranty (for free), complain about the problem rather than starting off by asking for a TSB to be done. As soon as a customer says "TSB", a lot of dealers get defensive and get ready to argue with you.
2013 Highlander Limited
2015 Tacoma DC SB TRD Sport 4x4
Retired: 2009 Tacoma DC SB TRD Sport 4x4, 2000 Tacoma Xtra Cab V6 TRD Off Road 4x4