Very easy, find a shipping company @ your place, make sure you ship it in a container,not on deck,if you really want to keep it in a good condition.

It will take 4~8 weeks for the container to reach Doha.

Once the car is here, you can contact any customs clearance agent (plenty of them in Doha), they will clear the car for you and you will have to pay around 3-6 k $ as customs fees (5% of the car's value)

Another thing, the car shouldn't be older than 5 years in order to import it into Doha.

The car clearance and registration fees (including insurance) can cost you around 2 k $.

Also make sure you bring some of brake pads along, because Tundra hasn't been released officially here yet. Don't worry about the engine parts (belts,filters...etc) because Toyota shares some of their engines on different models.

PM me if you need more information :)