After hours of research on various styles of sleeping platforms, I decided to try something very simple. Using the factory notches cut out in the 2nd Gen Tacoma bed liner......lay 2 2x6's in these notches, cut 2 pieces of 3/4" plywood, staple on carpet....done. It looks great, is very sturdy, there isn't a single screw, and the entire contraption pops in or out of the bed in less than 1 minute. Total cost: $75.
Here are a few photos.
Hope this helps anyone looking for a quick and easy elevated platform.