OP, originally the plugs were required to be changed every 30K to maintain the 8-year emissions equipment warranty. In other words, if you didn't have proof of changing the plugs every 30K, Toyota wouldn't honor the state required 8-year warranty on emissions equipment. At least that's the case in California, not sure if the 8 year warranty applies in all 50-states. Since you are passed the warranty time period, it's up to you to decide to change it now or not.
There may be enough degradation in function after 30K that Toyota's testing indicated this requirement to prevent costly warranty work on the cats or o2 sensors but we have no way of knowing that. Also, many people on here have gone much longer than 30K without changing their copper plugs and haven't really reported any issues. You can also use Iridiums which will last much longer, just make sure to stay away from Bosch and use only Denso or NGK. Personally, I like the peace of mind of using what Toyota recommends and just following the proper maintenance intervals in the owners manual and change mine (keeping with Denso or NGK copper) every 30K.