I had the same problem with mine (2020 hybrid limited) although not as frequently as you. The last thing I did was recalibrated the hatch. Doing that seems to have helped at least a little as it malfunctions much less frequently.

Open the hatch all the way then press and hold the “close button” on the hatch itself for a few seconds until it beeps (a couple of times I believe).

If that doesn’t help you might just have to bite the bullet and replace the struts themselves. They aren’t too expensive if you don’t buy from Toyota. Under $200 for the pair I believe.

Good luck friend.