I just looked at the manual. The canister is located above the rear axle. It looks like a real PITA to remove it, involving removal of one drive axle and various suspension components. If not done carefully, a wheel alignment would be in order after replacing it.
It looks like two options:
1. Go junkyard hunting for a canister. Find a "independant" mechanic with some level of skill to replace it. Hopefully you can find one with a Toyota scan tool, although emission related faults can "usually" be cleared using a generic, OBDII scan tool. Get a wheel alignment if necessary when done.
2. Bite the bullet, and pay the the local stealer. At least then when the check engine light comes back on, you will be under warranty for the parts replaced.