This is the updated door stop with the foam insert to prevent creaking of the door or what my daughter would say crickets chirping. Toyota part #69046-08010. You will need two for each side at $10 each. I've replaced the door stops on both doors already and just recently the right side again for the second time. Installation is easy as just removing the two bolts.
The tape solution won't last long if you keep using the door.
The tape solution won't last long if you keep using the door.