It depends on your usage, but a 200W solar panel in sunny weather will handle most small fridges. In my opinion you will get much better performance with a dedicated battery, ideally in your bed. You can use a removable box to allow for easy removal when not needed. A pair of golf cart batteries are great for regular usage, but as you say, they are heavy (part of why they are so reliable). If you only plan on doing the 2-3 day cycle down a few times a year, then a decent quality dual-purpose flooded lead battery in the 100AH range will likely do the trick. Alternator charging is useful, but with decent solar, it won't provide much value for camping where you are parked a lot. If you have higher power needs than just a fridge/lights, then you can consider an alternator charge circuit. Most Toyotas don't see much over 13.9V at hot idle, so the charge rates for a direct line, especially with a bit of wiring drop, are pretty low anyways.