When I've bought a used car in the past, the very first thing that happens is an oil, oil filter and air filter change. Unless it's been stamped within the last 5,000 miles as serviced by a main agent in which case it's (hopefully) been done properly.
What is the service interval on those cars ? Here you'll find a lot of people who really think the 15-20k intervals is just asking for trouble. Changing oil and filter at ever 9-10k is pretty cheap, and is the one thing that will make a huge difference to the life expectancy of any car.
Regarding the Toyota main agent servicing : give them a call, ask for a price. You might be pleasantly surprised.
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