I had an '01 I bought new. Extended cab, 4.7, 4WD. I ran it up to 120K miles. It needed an O2 sensor after warranty, but Toyota paid for it anyway. Nothing else but brakes and tires. Like most Japanese car engines, the timing belt is a required maintenance item, and often the mechanic will want to replace the water pump at the same time.
I really liked mine, I used to pull a single-axle trailer with 1 ZTR loaded. It was a nice setup.