First of all, you need to calculate your exact fuel mileage over a number of tank fill-ups - at least four or five. You don't need to know or care about your tank capacity to do that. That a "good portion of my gas is gone" doesn't mean anything.
Calculate your fuel mileage manually - ignore what your trip completer says. Or post the number of gallons you add and the odometer reading at each fill-up and maybe we can help you calculate. It helps make the calculations more accurate if you run the tank down to below a quarter full before you refill the tank. If the weather is good and I am driving locally, I'll even run my tank down until the low fuel warning is displayed.
Regular air in your tires is plenty good enough. Just make sure that the pressures are at least those shown on the door jam and remember that pressures rise and fall about 1 psi per 10 degrees of temperature change. If you check your tire pressures in a warm garage when it is cold outside after your car has been in the garage for a number of hours, you will need to raise the tire pressures above what is shown on the pressure gauge to handle the colder outside temperatures.
For example, if someone sets their tire pressures at 30 psi on a 90 degree August day, the pressures will be at a dangerously low, and fuel economy crushing 21 psi on a zero degree winter day.
Off hand it sounds like your Toyota dealer is "blowing smoke" and trying to sell you needless services. Flushing a power steering system seems to be one of the latest scams and that certainly doesn't have anything to do with fuel mileage. I've never had a power steering system flushed or a throttle body cleaned in the 462,000 miles we have driven four Toyota/Lexus vehicles with fuel injection since 1990.
The revised EPA ratings for your 2007 ES350 at www.fueleconomy.gov are 19 mpg city; 27 mpg highway; 22 mpg combined. If you commute is a mix of city and highway driving, then 22 mpg would be typical.
Finally ... have you had your ES350 a long time or did you buy it recently and are finding that its gas mileage is not what you expected?