Is there a full-time 12 volt hack for a 200 tacoma?

Yes, if I siphon 10 drops of water per day from a swimming pool it will eventually empty. A slowly discharging battery will likely lose capacity, even a fully disconnected battery may lose charge, a trickle charger is usually a better idea. And most shippers don't want the battery disconnected, they need to be able to load and unload it. They do however REALLY REALLY REALLY want your alarm disabled.

 

I'd be curious to see how much an aftermarket car alarm would draw. My truck can sit for 3 weeks with no issues.

Also, it sounds like the practical solution (if OP goes forward with this) would be to unplug the car charger when not in use.....

 

I just shipped 3 cars oversees. All them had to be disconnected after loaded into containers - shipper asked for it. It is way easier and faster to connect one wire then jump starting a car while it is inside a container.

BTW disconnecting the battery is in the procedure for shipping from Toyota factory and for long storage by dealers.

I will confirm that later that 10mA may be true for my "lean" 95 tacoma but 2012 4Runner shoots sparks while connecting the battery so it looks like it is a bit more than that.

 

I have a late 4skinner and it has many times the parasitic draw of the 99 Taco. I never measured it but it's enough to keep in mind for long term deals.
An interesting thing with the 4R is as the battery gets old/weak the rear window wiper will cycle once when starting the engine. Then there is the emissions ventilation that occurs at some time/interval after engine shut down and a bunch of other BS.

The post/whole thread below is interesting. Has a bit of edumacation about Toyota/shipping and 4R parasitic draw.