How did the door panels come out?? I'm going to do the same on my 84 runner, and the back cargo panels as well.

 

splintery I expect..

Getting a smooth soft factory look isn't as hard as it might seem. I didn't take photos when I did mine, but another forum member did a good write up.

Write up link, by Grego

Mine in gallery

 

LOL! Possible to make it look like a Lexus with burlwood but would be too much work.

Grego and Co did excellent jobs restoring to stock. I prefer utilitarian and do not care much for the stock look, dust-trapping fabric, and stupid hidden fasteners so I padded mine with ensolite, wrapped with UV-resistant vinyl and replaced stupid hidden fasteners with trim screws I can operate with a Leatherman and that will not break each time I touch them. I will do my cargo area in same manner. Even if you want the passenger area to look stock, utilitarian would work well in the cargo area.

You can get the fabric/vinyl, Ensolite or similar foam from vinyl/fabric/uphlstery stores.

 

If you want arm rests like the SR5 panels have you can make them out of foamboard insulation stacked and formed with a hot wire tool or a bondo file. Glue them to the wood panels and then do a coat of fiberglass cloth over them, and then cover the door panel with your vinyl as usual. I used to watch the upholstery guy at the hot rod shop do those all the time. Like this...