Mine OE Panasonic Lasted over 6 years
Replaced the battery before it got bad. It was taking a little more time to turn over in the dead of Winter so I replaced it. It was almost 7 years old when I bought a new one. I went to the Toyota dealership for an identical Panasonic replacement battery, but they only carried some other aftermarket brand, I forget which. I ended up getting a NAPA Legend battery. It has the same AGM (Advanced Glass Mat) construction and had very similar electrical specs. It's been fine now for almost 2 years.
ALso, Sears DieHard batteries seem to be extremely well rated in Consumer Reports. I would have gotten one of those, but NAPA is about 10 minutes walk from my house, and i think it came with a 72 month warranty.