If it runs normal and the CEL is not on, then you likely do not have a misfire and the code was a history code.
Most misfire codes on these cars are caused by the defective intake manifold gasket, which is pretty much a 100% failure item. If you have no history of the gasket swap , replace it.
Well I am up here in Virginia for a little while and it's been pretty cold. The past few days my idle has been very low and I knew my original intake gasket had run its course (104k is alright with me). So I headed over to Priority Toyota and spent around 7 bucks and change to get an updated...
www.toyotanation.com
Short of that, clear the codes and forget about it unless you get a check engine light.
1. Your wife is probably confused since the maintenance required indicator and fuel light are both amber lights in the same general area. She probably just thinks the orange light comes on when its low on fuel
2. You or whoever changed the oil didnt properly reset the maintenance light. The maintenance light begins to flash at startup at 4500 miles and comes on solid at 5000 miles.
Just reset the light again and forget about it.
To clear the maintenance light:
1. Change your oil and rotate your tires (as well as whatever other maintenance it needs).
2. Turn your car to the ON position.
3. Tap the Trip/Reset button on the dash until it reads ODO.
4. Leaving it in the ODO position turn the key to the OFF position
5. While the key is in the OFF position press and hold the Trip/Reset button.
6. While pressing and holding the Trip/Reset button simultaneously turn the key to the ON position (DO NOT START THE CAR!)
7. You should now see 5 dashes across the Trip display that will go out one by one until you see 5 zeros. When you see 5 zeros the MAINT REQD light is reset.
8. Start your car. The MAINT REQD light should come on for a second and then go out.