The model (Gen 1 or Gen 2) is important because the service requirements are different. Example, the fuel filter gets changed on the Gen1, it's a 'lifetime' (theoretically) filter in the gas tank for the later model car.
The 30,000 mile service on your '06 is pretty basic. Change air filters (engine and cabin), oil, rotate tires and inspect suspension and other parts.
If you have the place to do it change the oil yourself. Less than half an hour and under $30 even if you use synthetic oil.
If you have a "Discount Tire" outlet near you they (and probably many others) will rotate your tires for free every 5000 miles and will inspect your brake pads while they're at it.
New cabin air filter, $16 or so from most any auto parts store. Alternative part numbers and a 'how to' here:
http://gadgetjq.com/solara/cabin_air_filter.htm
Engine air filter, get a K&N for about $32 and you'll never have to replace it again, just annual cleaning/re-oiling. Info here:
http://gadgetjq.com/solara/k&n.htm
So, for roughly $80 and a few minutes of your time you could have new filters, new oil, tires rotated and a visual inspection of the underside of your car.
Now, the 90,000 mile service...'that's the one you might want to take the car to a mechanic for...it's timing belt replacement time and shade tree wrench or not, most of us just don't want to deal with it. 100,000 is spark plug and coolant replacement time, both do it yourself items if you want to save big bucks.
Cheers