One thing to keep in mind for some folks: I've run across a few dealers that offer a "Lifetime Warranty" on new (and some used) vehicles they sell. Covers engine, transmission, 2WD and 4WD for as long as you own the vehicle. Sounds great but the big caveat is that you must follow Toyota recommended service and maintenance schedules.
My guess is that this is really a play to keep people coming back to the dealer for expensive service long after the free stuff is complete. The big question is whether "self-service" counts and what documentation you'd need to supply to prove that you had actually followed the maintenance schedule. Would receipts for oil and a filter every 10K miles suffice to prove that you'd actually changed the oil or do they need documentation from a shop? Who knows?
I'm planning on doing my own oil changes for the 5K, 15K, etc. interval and not worry about trying to prove anything to Toyota. I figure, in the long run, I'll save myself enough in labor to pay for another engine at 200K if I need to.