Here's a nice long (lol) thread about this very problem with many solutions.
I don't know if you have an XRunner or not, but the Speakers are the same in all the Tacoma Models.
Apparently everything is setup for the rear speakers in the door. They just didn't put any in there.
It's a good read, but at 6 pages long it'll take awhile to get through.
Hope that helps!
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