I watched that video before installing them on my 24 Tacoma. It's a different vehicle, but the same principle. Also, use the front seat height adjustment and raise it all the way up. It makes it much easier to work under the seat.
You get the rails and bolts with lock washers. Your frame is already drilled and threaded. They literally just bolt on. It took about 15-20 minutes to install them.
I think the guy is installing the rails you want to check out in that video.
From the Trail Hunter videos I've seen, I believe they are the ones used and the TRD Pro uses the tight mount rails that come up the sides a little. The PT925-35242 version