I have to think that [possibly] one of your biggest problems is... you're dealing with a
used car dealer!
My suspessions are, that they're going to tell you...
"everything is fine"... anyway. However, you do kinda' have them buy the "nads" on this one

, since they issued you a drivetrain warranty. That's their stupidity for offering that, on a vehicle with 100k on it. Sounds kinda' like they're playing a high stakes game of craps, where they're gambling that... for the most part... this "drivetrain warranty" will be nothing more than a strong selling point, hoping for-the-most-part, no one will ever come back in with a warranty claim. They accept the "risk", that every-once-in-a-while, they'll end up having a claim. But FIRST... they're gonna' try their best... to steer you away from filing a warranty claim. Depending of course... on how "assine" this dealer is willing to be... if that initial...
"everything is fine"... doesn't work, then they'll accept a claim and pay for it. But I stress here... it depends on how "fair" this dealer is.
That said, if they DO indeed tell you...
"everything is fine"... then I would definately do exactly what Jason recommend. Take the truck and the metal pieces, to a local Toyota dealer. Granted they will probably charge you for a diagnoistic, but at least then, you'll have some
teeth to your warranty claim, in writing.
In that light, it's doubtful IMPO, that the dealer you bought your truck from, can honestly and fairly deny you a drivetrain warranty claim.

Best of luck...