Will this fit if I've lifted my Tacoma?

Yes — this bumper mounts at factory rocker and frame points. Lift height won't affect fitment. If you've added aftermarket suspension geometry hardware, verify clearance at the mounting brackets before final install.

Can I use this without a backup camera or PDC sensor?

Exactly why it's designed this way. The lack of sensor holes means zero drilling, no sensor wire routing, and a fully sealed rear panel. If you want to add sensors later, you'll need to drill custom mounting provisions.

What finish does it come in — do I need to paint it?

Arrives in primer-ready condition. You'll want to sand, prime, and paint before bolting on. Bare panel absorbs moisture without finish protection.