These are great cars, with proper maintenance they will run into the 300K mile mark and more. My mechanic has one with 425K. I have a 2000 XLS with 220K and I love it. No leaks (just did the valve cover gaskets, they were leaking at about 200K), uses 1/2 quart of oil in 3500-4000 miles. I run Mobil 1 EP, 5W-30 at 7000 mile intervals. Use a good filter, Toyota OEM are among the best and 1/2 price of most premium filters. These engines have a tendency to "Gunk Up" if oil is not changed regularly. Use good oil and change regularly, change all fluids every 50K miles or 5 years, timing belt and plugs every 100K.
In addition to the VC gaskets, I have done the following over 10 years of ownership; got the car with 95K in 2007, owned by Ag equipment dealer, oil changed every 3K with synthetic.
100K: Timing belt, water pump & associated seals, plugs (looked good), drive belts and transmission and radiator fluid exchange (NOT flushed, exchanged).
150K: New struts, springs and pads, complete KYB assy. from Tire Rack; about $650.
204K: Timing belt, water pump, seals and belts. About this time I cleaned the throttle body and replaced the front O2 sensor.
215K: Spark plugs, valve cover gaskets, radiator and hoses.
As stated above, I've changed transmission fluid, coolant about every 50K.
I'd take the car to a dealer and ask what it costs for a 39 (or 40) point inspection. Most do this very cheaply, some actually are free. Don't let them fix anything, just give you an estimate for anything they find and then find an independent Toyota shop and ask them to confirm anything the dealer says is needed and price.
How long have you owned the car? If you ever want to sell it, shot me a PM, I'd love to have another with low miles.