I changed the coolant (by the dealer) after ten years and 100,000 miles in my 2005 4 runner. I never had a coolant overheat, but a year ago, at 150,000 miles, I drained the radiator and added a gallon or so of 50/50 mix long life coolant.
I'm planning on emptying the radiator again, and adding a gallon of new "red" Asian coolant - rather than take it to the dealer for a complete drain and refill.
I have a back up water pump assembly and thermostat assembly, but I'm not changing the OEM WP or thermostat as I'm not a believer in preventative maintenance for everything.
Coolant looks pink in color - just like original OEM. Hoses have never had to be replaced.
At 200,000 miles I'll likely take it to the dealer for complete coolant replacement, but now, I'll just drain a gallon or so, and replace with fresh red Asian coolant.