I didn't stake last year and just used garden-center tomato cages stuck as far as I could push them into my raised bed. I had pretty good luck until right at the end of the season when the cages started to topple. It wasn't a huge issue for me because I had seven plants and I'm the only fresh-tom eater in my family -- even with the plants laying on the ground I had plenty for myself and shared with a neighbor. But it did look like crap, and this year I'm hoping to do some freezing and canning, so I'm trying a florida weave system.
I bolted pressure-treated 8' 2x2s to the boards forming each end of the bed. The weakest link is probably the boards themselves, which are untreated 1x12s I put in last year and which are already showing signs of deterioration.
Val