Pictures please!!
I don't think ARB makes one but you could always weld the spiders. It'd sure be horrible to drive on the street though.
I imagine you're pokin' fun, but the Pri is a surprisingly good fire-roader as long as there aren't clearance issues. I also have a straight-axle 4wd with a lock-right and 4:1 low-range but I take my '07 Pri instead to get to my friends house on a narrow, potholed, muddy, steep mountain road. The electric drive supplies nice low-end climbing torque, the regen brakes are helpful on descents, and it corners much better than the old 4wd. I was worried looking at the road last time (a bunch of slush had just melted) but the hippie hatchback climbed right up without even slipping a tire, even with the banjo and a big pot of rice and beans weighing down the back end.
Don't discount the front-wheel-drives off-road. There's a vid of a guy in a new beetle with a mild lift (and open diff) doing mighty well in Moab with some careful line-choosing and small amounts of momentum. Ya, here it is...
http://www.youtube.com/watch?v=nb2OVegp7c0
Happy wheelin'