I checked the dictionary and found that I can use 'scoot' with 'off' or 'over' but can I use it with 'for'?
Kalya got out of bed and scooted for the toilet
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'To scoot' is a verb for movement and, as such, can use the preposition 'for' when there's a destination (a specific goal) involved. It's not something I would normally say, but I can imagine situations where it would be rather appropriate. For example, if Kayla were to ride a scooter from bed to the toilet (either a recreational scooter or a motorized chair for the disabled), she could aptly be described as scooting for the toilet.
If your meaning is that Kayla was in a hurry to get to the toilet by walking quickly, or that this was the only reason she got out of bed, "scoot" would not be used. "For" could be used in this way: "Kayla got out of bed and headed for the toilet," which implies that she went directly there. A colloquial verb that sounds as though it may be related to "scoot" is "skitter," which would be used with "to": "Kayla got out of bed and skittered to the toilet." The imagery it conveys is moving very rapidly, like a bug might if you turned on the light, and it would be a humorous use of the verb. As an aside, "toilet" in the US refers to the fixture inside a restroom or bathroom, a "commode." To use it in referring to the room itself would be considered vulgar. Further, either "bathroom" or "restroom" is correct to use in a person's residence. "Restroom" is always used in a public place, since it is not likely an actual bathtub or shower would be found inside.
Source for "skitter": Merriam Webster online dictionary
Scoot would be a perfectly ordinary verb to use when referring to moving across an object while seated, such as a couch or a chair, e.g.,
As the movie began, she scooted closer to her boyfriend.
Though your usage is legitimate, it feels more unusual when referring to walking or otherwise moving somewhere. It would actually sound far more natural to say something like,
Kalya scooted out of bed and made for the toilet
On a side note, I don't see any problem with direct references to the toilet; this isn't the Victorian era.