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I just double checked my owner's manual and for my model (2000), it says to use the Denso SK20R11 (.043" gap) plug or the NGK IFR6A11 (.043" gap) plug.
You are fine to leave the manufacturers gap as is. I've not been able to attain .001" precision so I don't try. You'll likely find that attempting to gap them each plug will result in more differences, this is near negligible for the usual commuter.
Toyota has changed the design in August 1996 to use spark plugs that have the gap of 1.0-1.1mm (0.0394-0.0433in)
Below is from a JDM manual. It indicates the limit 1.3mm (0.0512in).
The required gap depends on the compression ratio, air fuel ratio, coil voltage and spark plug temperature. A bigger gap can only make a bigger spark if there is enough voltage to cause a spark under all these conditions, so a bigger gap may create no spark at all under some conditions. But, if the gap is too small, the plug is easier to faul. So, you should follow the instructions and purchase proper temperature spark plugs and properly adjust the gap.