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I had it done once, but only one valve needed a new shim. That was on an gen2 with about 90K miles 8 years ago. It did'nt get very many oil changes by the original owner either.
It's an expensive job. Back then, the labor was $192. And that's just to take off the valve cover, measure it, really.
What's bad about a valve adjustment with engines like ours with shim type of adjustment, as opposed to a screw adjuster (with a rocker arm) is that, if the valve clearance is out of spec, you have to go back to the dealer and get the appropriate shims. You don't know what shims (shims come in many different thicknesses) you need until you have the valve cover open and clearances measured.
One shim at the dealer was like $9 back then. While I have yet to see an engine that needed 16 or 24 shims replaced, that would get mighty expensive.
In any case, the valve clearance rarely goes out of spec on Toyota engines. You can check it, but I wouldn't worry much about this...
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Tom
2004 Prius Touring Edition
2003 Corolla Luxel
2000 Camry LE - Lunar Mist Metallic
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