The relay-rod recall is because a couple of them failed somewhere in the US....taking into consideration that parts fail all the time on 15 y/o trucks with 300,000 miles on them, I'd say invoking a voluntary recall is stepping up to the plate fairly well. Canadian vehicles are affected as well, even tho to date there have been 0 documented failures in Canada.
The 3VZ-FE 3.0L V6's are found in 4R's and PU's from 88-95. The HG wasn't up to par (american supplier problem IIRC, not like it matters) to deal with the needs of the iron block/alum. head combo. Many lasted 200,000 miles, other's didn't. In the late 90's Toyota had a voluntary campaign to fix all affected vehicles. If the anything else was damaged by a malfunctioning HG, they replaced it, which included many heads, shortblocks and longblocks. Although many were worn anyways, because these were already older vehicles, and maintenence is anyone's guess. That's pretty much the whole story there....the campaign is ongoing, so if anyone has a 3.0 with a HG problem they can check if it's in VIN range or been done yet. I think you would be hard pressed to find another manufacturer that stepped up like that on a similar situation. Walk into Ford and ask them to replace the motor in your 95 Windstar because the 3.3L HG let go....
I've seen a consistant number late 90's early 00's Subaru 4 bangers blowing HG's with average mileage (100-200,000kms). I know plenty of people with the stock Toyota HG on the 3.0L 3VZ's, but it's still a problem.
In the end, I think most of the blame can be put on individual dealers, rather than Toyota itself.