In my case, I have access to them from a speed shop back home for the FSM and more detailed manuals. But I also own a Haynes manual for maintenance level sort of work - usually what I turn to first, then double check with the Toyota FSM.
You can order a hardcopy at the dealership - can be pretty pricey, even for older cars - these can run an easy $200+.
There is also an electronic resource - Toyota's TIS (Technical Information System) - It is subscription based, you can get a subscription monthly or yearly.
There are also Haynes and Chilton's repair manuals. Those are a good value and can get you 80-90% of the information you need, for a fraction of the cost of the FSM (Factory Service Manual). Much of the information here comes directly from the Toyota FSM.
From time to time - you might see an authentic FSM pop up on EBay or Craigslist. Note that there are a ton of $5 - $10 PDF copies on EBAY for the FSM - buy them at your own risk. Sometimes you get lucky and get a real FSM - sometimes you get one for a different market/region, ie. JDM market. I usually don't recommend that course and they are selling copies of copyrighted materials - just pushes up the prices for people that want to get legit copies.
For newer cars - your only recourse is to wait for a manual to come out or buy the FSM for $$$$. Sometimes, the information from previous model years will cross-over enough to let you cover basic maintenance until a commercial (Haynes/Chiltons) manual comes out.