I haven’t but I’m not a mechanic.
I just had this truck inspected and it passed, but I suppose it’s possible they forgot to check that.
The sound actually started shortly after that inspection.
Do you do any towing with the Tacoma? Toyota recommends frequent changes of gear oil in differentials of vehicles used for towing. Even without towing you should replace the differential gear oil every 30K miles IMHO. Get the gear oil changed now and see if it helps. If it doesn’t help it might be too late for your differential and there could be some gear and/or bearing damage.
There are some other possibles, like a bad wheel bearing so start with the gear oil change and troubleshoot as needed after that.