Since there is no “recommended” time or mileage specified by Toyota for fuel filter replacement, it probably has been ignored. Don't replace it with some poorly made aftermarket filter that is prone to falling apart internally (i've seen it happen). This is going to be on your truck for years, install the correct one.
For you EFI guys, it can be a challenge to get to (but not as bad as everyone makes it sound) so if you are doing a cylinder head or engine replacement, do it while is simple to get to. If you don’t have any history of it being replaced, do it!
Carb'd guys will find it under the truck near the fuel tank or under-hood for the really early trucks