I bought my 2010 Limited 4x4 in November of 2012. It had 33,000 miles on it, was sold to me as a CPO... and I got it for just over $31k. It was in great condition. There were a couple issues with paint rub inside at the base of the doors, but that was it. For $31k, we jumped at it and drove away happy. The fact that it was a CPO just sweetened the deal.
At $34k, my opinion is that this dealer is trying to pay for his next boat payment... or buy a new boat. It's one of the two.
I'd say $30k would be good for a 2010 with higher mileage (70,000 miles or so).
I checked out Carmax (not my ideal shopping spot, but it gives some good ideas on prices). Obviously these aren't CPO... but I found two that jumped out at me (MUCH cheaper than the $34k your dealer is asking for):
2010 LE in Greenville, SC
58k miles / No Nav / Sliding Tray (no 3rd Row) / $26,998
2010 LE in Tulsa, OK
56k miles / Nav / Sliding Tray (no 3rd Row) / $27,998
Here are a couple more I found local (to me):
Charles Maund Toyota (not my first choice of dealers) here in Austin
2012 LE CPO / 46k miles / Nav / Sliding Tray (no 3rd Row) / just under $34k
Just some numbers to think about.
-Joel