You've gotten a lot of good feedback already, but for another data point, we had a '99 when my daughter was born and put her in the middle of the backseat. Since then (2010), we had another kid in 2012, bought and totaled a 2007 4Runner (nobody hurt), bought another 2007 and a 2011 - car seat...
I sold a '95 with 215,000 miles (it's still running), gave my nephew my '99 at 303,000 (also still running), have a 2007 with 126,000... Just need good maintenance
Another reference point - I bought a 2007 SR5 V6 with ~121K miles last month for $12K from a dealer. But, I also agree if you know the maintenance history and trust the seller, buy it...