Get an OEM gas cap from your Toyota parts counter for ~$25 and go to Auto Zone/Advance/etc and have them clear the code after you replace it. Don't waist your time on the dealer or your money on replacement gas caps at the car parts place. I had the exact problem you have and tried the $5 gas cap at Auto Zone. The check engine light came back on and I took my truck to the dealer thinking it had to be the filler neck problem. The dealer tried to get me agree to replacing my charcoal evap canister in addition to the gas cap. I just about spewed coffee out my nose when the "Babe" service writer came in to sell me on this. She said "It could have a crack in it." Yeah...right

... I could have an extra $400 burning a hole in my wallet too.