I think toyota actually plans on getting there in the next few years. I think the current and final hurdle; which I'm guessing a couple different companies about have a complete handle on is the prevention of dendrites forming and causing the batteries to go bad from multiple charge cycles.
Toyota wouldn't be blowing fluff about having the batteries a few years away from production if they weren't confident about it happening. That's reserved for saying something is 7 to 10 years away.