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Your tundra came with a shift kit built in - just push the Tow/Haul button or put it in Sport Mode ('S' on the trans selector). There are effectively two different valves/fluid paths for each shift in the tundra transmission: an easy-goes-it valve and a shift-right-now valve. 'D' tells the trans to use the easy-goes-it route while Tow/Haul and 'S' select the latter. Tow/Haul also adjust throttle sensitivity and raises shift points while 'S' is closer to stock throttle without delayed shifts, but, IIRC, bypasses any learned programming that the transmission acquires from driver input over a period of time.
 
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