This should brighten your day:
2005 tacoma 2nd gen terminal frame rot rust cancer
An automotive shop probably won't perform any formal Non-destructive Testing, but they can tap and probe the frame to check for weak spots, and maybe poke a borescope into some semi-enclosed areas. If rust is a concern for you, there are several threads on rust preventative measures. I applied Fluid Film to my 2012, but it's too soon for me to report its effectiveness.