Toyota's lower-ball-joint recall (NHTSA 05V-225, campaign 50J) covered 2001-2004 Tacoma, 2002-2004 Tundra and Sequoia and 2001-2002 4Runner — first-gen trucks only. A 2012 Tacoma is nowhere near that campaign, so treat the ball joints purely as a wear item: they carry the front suspension load and a failed one can cause loss of steering.
Jack the front wheel and rock top-bottom (12-6). Any movement = worn. Also grab the wheel at 9-3 to separate ball-joint play from tie-rod play, and check the boots for splits.
Est. cost: $300-$500 per side parts + labor
Source: Wear pattern; NHTSA 05V-225 cited for scope only