While there is not one "at home experience" that can completely capture all of TSM's elements, if you take each element seperately, you can find an equivalent. Motion controlled shooting and targeting can be found on all of Nintendo's consoles since the Wii (not to mention the fact that Toy Story Mania was actually released as a video game on many platforms). The up close visuals provided by the 3D can be found on the Nintendo 3DS, and similar up close experiences can be found with VR and AR. That leaves you with a moving car and 4D effects, both of which can be found in other Disney Attractions.
This type of attraction is likely to impress older generations that did not extensively grow up with at home video games, but unlikely to impress the younger generations that did. We are long past interactivity and video games being a gimmick themselves. It is now just another medium to tell more interesting and complicated stories.