James,
Audio inspection... That seems like BS to me, and I have worked Toyota service. Sure if they are loose, you will get a pronounced tap, but what if they are too tight... BURN'T VALVES! I would never consider anything other than an actual measurment of the clearance to be considered OK.
If you do fairly normal oil/pcv changes, the valve clearance is pretty likely in spec. I check mine about every 50k, and looking back at my records, shows them to have not changed at all.
Adjustment of the clearance if needed, is done by adding/removing shims, that are located below the camshaft lobes. The cost of these shims + a new valve cover gasket + labor would be the cost.
There are a lot of possible sounds that could be going on in that area, and if there is some valve train noise, it may well be normal.
For reference is a pic I took a few years back when I did my second valve check, and it really is avery simple procedure to do.
Good luck,
SS