I remember hearing the same thing. From what I have read and seen the stock skid plates protecting the batteries should be more than sufficient but the rocker panels and sides are very vulnerable to damage. That's why rock sliders are a must when offroading in any vehicle.
Also hope they are...
The biggest thing that I am hoping for is the ability to bolt on Rock Sliders. If the R1T is going to go offroading it's going to need more protection, and I plan to go offroading.
Example of rock Sliders
https://www.demello-offroad.com/19995-2004-tacoma-round-rock-sliders