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I goofed up my front bumper a bit similarly.
I'm leaving it alone at the moment because I don't want to do that kind of work in the cold, but I found a site that will send you a pre-painted bumper cover. About $400 bucks for the front, I did not search for the rear.
For the black plastic piece that holds the edge of the bumper, remove it and do a search of the part number that is molded on the back side. I was able to find the front equivalent from one of the Toyota online parts stores for only like $26 bucks.