It’s not like Toyota gives a darn about the truck owner. They’re just trying to head off the bad press and potential lawsuit due to frame breakage.
That Youtube video is pretty funny. Just a few of the unasnswered questions.
What about the transfer of rusted and/or worn suspension and steering components?
Apparently no alignment is necessary? 
They had a crew working on that thing. Just how much flat rate time is being paid under warranty on something like this and how is it being split up?
Who is on the hook when all of those rusty incidentals and quirks start showing up later; as in tire wear problems, electrical glitches, fluid leaks, and so on?
Note the mechanic just flat runs over the flex hose used to route exhaust gas outside. That should inspire confidence…
JMHO, but if it comes down to the point where an entire frame must be replaced then the truck should be parted out and done with. Toyota’s bean counters and legal staff already have it figured out though.