actually, this is possible and I don't think it's terribly priced for an OEM style solution. You would essentially be swapping out the head unit + a harness. However, I do believe you will lose the compass feature, but you're going to use CarPlay/Android Auto anyway right? I had a buddy do it on his '19 and it's been working pretty well for him. I have plans to do this in the future.
Buy this guy and make sure to read it all to ensure you have all the right parts coming:
INTRODUCTION Our reconditioned factory Toyota radios feature a 90-day guarantee and a hassle-free return policy. Extended warranties are also available! Full Apple CarPlay® and Android Auto® functionality. Supports English, French, & Spanish languages No-hassle, Plug & Play system. Eligible for...
www.infotainment.com
You can also choose to sell back your OEM head unit to them which would help drive overall cost down. He received $400 for his.
They also normally have a 15% off code, so keep an eye out for that as well.