The engine was just diagnosed with the Toyota "sludge" problem and is now at the dealer having the engine replaced at no cost to us (which apparently is a rare thing... the free replacement, that is, not the sludge problem).
We replaced the tires with new steel-belted radials and have had problems with "pulling". We were told the tires develop a wear pattern that causes this and that it is not the vehicle. When the tires are rotated, the problem stops.
Brakes were replaced by a local mechanic (not the dealer) and have needed to be replaced twice in 2 years (less than 12,000 miles per year) because they pulsate, which is due to wearing that is not symmetric (out of round). A guy at a Valvoline place said he sees this on Toyotas that have generic or non-dealer brake pads used. We will have the next brakes replaced by the dealer.
Prior to the sludge diagnosis, this was a remarkably well-functioning vehicle. However, my husband is meticulous in maintaining oil changes every 3,000 miles and doing proper maintenance (transmission and radiator flushes, timing belt replacement, etc.)
It is comfortable and roomy inside (compared to our prior subcompact cars.)
It feels like you're driving a car and not a van.
It handles beautifully in the snow and rain, especially the anti-lock brakes.
After learning that our dealer will replace our sludged engine at no charge, our faith in the Toyota brand has been restored. I realize this is not the case for many others. Our next vehicle will definitely be a Toyota (most likely used) from the same dealer, but we will definitely check the internet for potential problems for whatever year/model we would be looking at.