Taylor,
If you do not wish to undertake the repair job yourself I would take it to a reputable Independent Toyota shop in your local area. Scan Yelp.com, Angieslist.com or even the Yellow Pages for a respected shop.
$230 is an exorbitant amount of money for a Tacoma V-6 o2 sensor! As a backyard mechanic that works on countless Toyotas, I can say with confidence that you shouldn't have to pay more than $150 for one. A lot of my customers purchase their parts from toyotapartszone.com because they offer cheap OEM parts (it appears as though o2 sensors for your Tacoma will cost under $150 on the website). Make sure that you bring your own parts for the repair as this will net you considerable savings. Good luck with your truck!
www.toyotapartszone.com