I brought my 2009 ES350 to the dealer for the 30K service. (I had about 30.5K miles)
It was expensive, $430 after a service special and supplying my own oil.
What happened though is they did a drive test and found the breaks had a slight shimmy in them and so replaced the rotors and pads for no charge under the warranty. (What looked to be a $550 job)
I could have done it cheaper at my local garage but I doubt they would have replaced the breaks.
So in the end I guess it was worth taking it to the dealer.