2021 model new order cutoffs vary by model, but once the following year hits the Toyota web site, it's a safe bet that new orders were cut off months prior.
Cutoff typically begins around May, with some models being orderable into August, some models cut off even earlier.
Best bet for a '21 is to find one in dealer inventory, which isn't going to be easy this year. Dealer inventory is stripped bare, the dealership I most recently bought from has only 21 new cars... they normally have over 200.
Their Tacomas are indeed 2021