Yes, by "pigtail" I meant the wires coming out of the actuator.
I think there is also a switch on the brake pedal. Its purpose is to deactivate the cruise control when one presses on the brake pedal.
I agree it is most likely that either (1) one of the parts (actuator; switch on the steering column; brake switch; clutch switch; the cruise control ECU) is not plugged in; or (2) one of these parts has failed.
Can you photograph the front and back of the switch mounted on the steering column and post these photos here? The first switches installed typically have the back of the casing coming off, due to poor design. This results in an internal electrical disconnect. Subsequently Toyota re-designed the switch casing so a screw holds everything together. I would like to see if you have an older switch or a newer one.
I bought my 1998 Rav4 last year. The cruise control did not work. Later I googled and learned about the back of the switch's casing coming off. When I pressed the back of the switch's casing, the cruise control worked. Ultimately I just bought a newer switch from a salvage yard, with a screw in the back holding all together firmly.
My next steps would be as follows:
-- Check that all major components are plugged in. If everything is plugged in, and the cruise control system still does not work, continue.
-- I think switches fail more often than actuators or computers. So check the three main switches. Electrically bypass the clutch pedal switch and the brake pedal switch. Does the cruise control work? If not, continue with the steps below. If the cruise control works with the clutch pedal switch and brake pedal switch bypassed, then figure out which one is not working, and replace it.
-- Get a digital multimeter. I like my $20 (or so) Craftsman multimeter a lot. Read the multimeter's instruction manual once quickly? Practice the continuity test feature with a bare piece of wire. Practice the DC voltage feature by touching one probe to the positive terminal of the battery and the other to the negative terminal and look for 12 volts. The ohmmeter feature is likewise pretty straightforward once you have practiced a bit.
Come up with ways to put, say, a paper clip or scrap of wires in the end of female-type plugs so you can take your readings. For male-type plugs, maybe get some small alligator clips to help with your readings.
-- Go to page 149 (pdf page 147) of the manual I linked above. Look over the tests, listed near the bottom of this page, for the cruise control switch mounted on the steering column. On page 151 (pdf page 149) a drawing of the switch's connector, labeled C12, appears. The three terminals on the connector are terminal 3, terminal 4, and terminal 5. Unplug the switch. Match the terminals on the actual connector with the ones on the drawing. Try the tests on page 149.