I've got my 2004 4wd SR5 V6 with 158,000 miles in the shop right now after noticing it was losing coolant quickly. Haven't heard the diagnosis yet. The only other symptom was a rushing waterfall type sound when I started it cold, but that only happened once.
(Oh, and I've got a P0430 code for the cat. Great. )
I bought this thing 9 months ago. I've had to replace a caliper that was sticking as well.
I heard Toyota was reliable but so far I'm not really thrilled. I love the way it drives, though.