My Toyotas have had no issues with DOT 3, DOT 4, Super DOT 4, DOT 4LV, and DOT5.1 fluids. You can use whatever you want from a new sealed container for top offs and for bleeding.
DOT 3 is cheap and available pretty much ANYWHERE. Rumor is that Honda/Toyota/Nissan/Hyundai allegedly use a seal conditioner with their brake fluids that increases the lifespan of wheel cylinder, master cylinder, brake caliper 'seals gaskets...'. Supposedly, the aftermarket fluids don't necessarily use it and these conditioners go against normal SAE/DOT rubber compatibility neutrality standards, and why some Asian automakers had to replace/recall/remedy various issues with master cylinder leakage while using the blame game... it was caused by aftermarket fluid. It wasn't and issues were caused by automakers using cheap seals and a brake fluid seal conditioner for longevity.
I highly recommend 'automaker' branded brake fluid. Leftover bottles of brake fluid should be recycled. Even the tamper resistance air-tight brake fluid bottle seal is a SAE/DOT spec. Use only new unopened bottles for all your top offs, siphon refills, and brake bleeding.
Since automakers cut corners every chance possible, its easy to avoid the 'blame game' and just use a dealer sourced brake fluid. My neighbor works at a Honda dealership and every Ford/GM/Mopar/Toyota/Nissan/Mazda/Honda... on the street has been bleed with 'discounted' Honda brake fluid. Dealer cost employee case pricing is very affordable.
I have no issues with ANY traditional DOT store brand or aftermarket fluid. I just get the Honda fluid cheaper and understand some of the games that automakers play with cost cutting.
The only time you need higher boiling points is if you track/race your car or your commute includes trips down the fast side of Mt Everest, when downhill braking is important. Most Toyotas now have more than adequate braking and should do well with and need no more than DOT3. Save your money on fluid by bleeding more often to keep moisture levels as low as possible and rust inhibitors as fresh as possible. Bleed every 2-3 years or every 25k-35k miles, and at every brake repair.