they say I need a new throttle body replacement for $1000!
Read your warranty. Should be covered right?
Is this normal?
Obviously not.
I get the regular oil changes and all of the recommended maintenance.
That would have no bearing on throttle body operation.
Bear in mind that the dealer is the most expensive place to have your car serviced. Not only are their prices for parts and labor the highest, but they typically want to just swap parts rather than perform diagnostics. If the vehicle is no longer under warranty you should probably get a second opinion from a good independent mechanic (not a chain shop). It's possible your throttle body just needs cleaning or there is a sensor problem. It's pretty unusual for a throttle body to fail in so short a time.
Here's a thread on a 4Runner forum discussing this kind of problem:
https://www.4runners.com/threads/need-advice-regarding-throttle-body-work-and-warranty.39773/