Some loss in that time is completely normal. If it falls within Toyota's test limits (see the TSRM) it's OK.
That said loss of rest pressure (Toyota calls it residual pressure but I prefer the Bosch term) can be from external or internal leakage. External leakage is self explanatory. Internal can be anything upstream of the fuel regulator on the pressure side of the system. For example injectors (including the CSI), check valve in the pump, or the regulator itself. In other words anything that allows leakage into the engine, into the return line, back into the tank, or into the outside world.
The fuel pump in this car doesn't run until the key is held to start. If you want priming prior to that as many cars have there are a few things you can do to get it. None of them should be necessary however. If you're having hard starts you should look elsewhere