That's not a special Toyota proceedure by any means. A clean and readily flowing cooling system should bleed the air out pretty quickly. I never "burp" my system. I just fill the overflow completely, turn the heater on and let the car warm up a idle... then let it cool back down. I'll check it again in a week after that unless I hear the token "waterfall in the dash" sound indicating more air still moving through the heater core.
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