Toyota have a technical service bulletin ref EG-0004T-0110-EN that seems to cover this:
White smoke from exhaust, DPNR only.
Models:
RAV4, Avensis, Auris, Corolla Verso
Model codes:
ALA30, ADT251, AUR10, ADE157
DESCRIPTION OF PHENOMENON
Some customers may explain about white smoke from the exhaust.
PRODUCTION CHANGE
The ECU software has been improved.
The bulletin requires the correct operation of:
5th injector, replace if faulty
Check for air leaks, repair as required
Confirm air intake volume, replace air filter if out of spec
Check MAF operation, replace MAF is faulty
Check EGR operation, clean or replace as required
Check intake manifold for blockage, clean if clogged
Carry out forced DPNR regeneration, if regen fails replace DPNR
If any of the above are out of spec then they need attention then a reprogramming of the ECU with updated software is required, if they are all OK just the software update is required