I don't know and the FSM doesn't mention it. On my other cars (not the EV, lol) the ground strap runs from the engine to the body. It's literally a braided strap, not an insulated wire. It shouldn't be too hard to find, unless Toyota in its great wisdom hid it between the firewall and the "back" of the engine, in which case you might have to remove the cowl to see back there. You could always buy another strap and run a second ground from the engine to a good ground point on the body. Can't have too many grounds I think.
I think the post you're referring to mentions a possible bad ground on the battery. That's a separate ground point, and probably worth checking also. If the post connectors are corroded, clean them with a water/baking soda mixture. If the connectors show physical damage, replace them. Check the length of the grounding wire to make sure it looks good and check it's attachment point at the opposite end of the battery.