Recalls must be repaired for you free of charge whether or not your vehicle warranty is in service - recalls are issued for safety issues where auto makers must repair the problem at no cost to the owner. ie. my '03 G35 was recalled last year for the passenger-side air bag sensor: the sensor would not receive signal there is a passenger in the seat and may not deploy in the event of an accident, increasing the chances of injury/death.
With that being said the document you linked is not a recall, but a TSIB - a service bulletin Toyota stores in its database of files for technicians to successfully diagnose and repairs issues that are brought up by the consumer. These are typically mechanical issues, such as dash rattles, alignment/tire wear problems, etc., and may or may not be commonly seen.