If there is a sludge build up in the pan, then that makes Talonxracer's comment very relevant. A sludge accumulation would indicate that the previous owner didn't mind the maintenance routine as much as you are. The best way to attack that is to drop the pan and wipe it out, but that is a task. That does not address any blockages in the top end, but you feel the truck is running smoothly as is, just has this foaming issue. You could:
Perform and engine flush with your choice of product. Seafoam, Moly, MMO, whatever. or
Drain the oil (again), reinstall the drain plug, and put your solvent down the dipstick tube so it does directly to the pan. Let it sit in there for a while, then drain with the front end up to make sure it all comes out. Then chase it with a qt of oil to flush out the solvent as much as possible. Then refill with 5 fresh qts of your synthetic of choice. (It is 5 qts for a 4cyl right?) At least that way you know your pan is empty,and your readings will be true.
I have never heard of enough sludge to prevent draining completely, but I don't work at a Toyota dealership.
Now here is the * on an engine flush with a buildup of sludge. You could end up freeing up some chunks that will not flush out and they will want to find your pick up tube. You could also clean up some sludge that is assisting worn out seals, and start a leak. I have never had those problems with the 2 engine flushes I have done in my life, but the internet is a scary place.
And none of this theorizing addresses the moisture problem directly. This was all just in response to your son's idea.
I have a hand pump from HF that I use to pump out my trans fluid. It was like $10. Very handy for differentials too! I just added some vinyl tuning to the suck end of the pump that slides down the dipstick tube until it finds bottom. Not a perfect solution by any means, but it works.
To be honest, I'd probably just keep doing what you are doing. Cut the oil change interval in half, always drain it hot, and fill with a high quality synthetic that will reduce the amount of moisture absorbed.
Check this out:
Clean that tube and cap often, and hopefully your improved maintenance routine will reduce the foaming.