it might depend on the unit you have. my '18 tacoma had the 'entune' oem radio, and didn't have a reverse wire behind the radio in any of the harnesses(i spent a lot of time volt-checking every single pin trying to avoid having to run the wire i had to run). i assume it worked off canbus.
it's possible that some sort of quirk in that '20 unit is expecting a similar digital signal, which your '05 is obviously not going to send it. and in that case, would bone your idea of using it with the reverse camera..
toyota isn't known for changing pinouts on similar wire harnesses so much-- they still use the same speaker connector from 1986... so i expect that chasing wiring diagrams is going to continue being a dead end no matter who or what you ask about it.
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