96 4runner frame rust issues

I am looking to repair a very rusted frame on my 96 4runner SR5. It is nearly rusted through just in front of the rear axle, where a support arm runs from the axle to the frame. I've heard that there are kits online for some vehicles that come preformed and ready to be welded and bolted on. I really want to avoid having to patch anything together under there. I'm not a welder or blacksmith by trade. I have attached a photo of the passenger side issue spot.

 

That rust may be enough to total a vehicle, does it look that bad anywhere else? I would look into frame replacement, there was an NHTSA campaign going for 3rd gens to get frames replaced under extended warranty. I would contact a local/trusted dealer to see if you have that option available for you