yeah. go buy new idler arm bushings and put them in your worn out one. You don't need to take the arm off the shaft, just drop it down and out. Take the rest off the truck, punch out the old bushings (2) and stick the new ones in. Grease, put back together. No biggie.

I don;t have a good part # for the bushings. The ones toyota sold me were too small in ID. I drilled 'em out.