Most scan tools won't support the trans temp PID that Toyotas have.
You can purchase any ELM327-compliant OBDII bluetooth dongle (~$20) and the OBD Fusion cellphone app ($5) and then the extra 'enhanced diagnostics' I think it's called ($10) for your model and it will display trans temps. Likewise you can do the same with the same type OBDII dongle and the Torque Pro app ($5) without the $10 addition but you'll have to do some googling Toyota forums &/or Torque Pro's forum to find the custom PID data you'll need to manually enter yourself to get it to work.
If you're only wanting to check trans temps so you can check fluid level on a Toyota sealed (no dipstick) trans after a drain and fill or a flush or whatnot Toyota has explained in their Factory Service manuals how to enter 'Transmission Temperature Check Mode'. It involves jumpering pins 4 and 13 in your OBD port and a slow shift sequence back and forth between Neutral and Drive for ~6 secs until the (D) drive indicator on your dash comes on for ~2 secs telling you that you have entered check mode. Then you wait idling until the light comes back on telling you that you have reached the Transmission temp check range for your model. When that happens you need to be ready & quick to open the overflow to check the level while it is still idling before that light starts blinking indicating it's gotten too hot out of check range. The details of how to do this are explained in many Toyota forums and Youtube vids.
EDIT: Here it is explained in the Factory Service manual for an earlier model. I strongly suspect it also applies to your 2021 as it has applied to previous models for about two decades now but I'd suggest checking your model's FSM or with AllData or Mitchell or by joining a Tundra forum to check with members there to be sure. Perhaps your dealer's service dept might be helpful in that respect too, or not.
