I have a 97 ES300 with just over 200K miles on it.
My husband and I take care of our vehicles, so regular oil changes with synthetic oil - we spring for Royal Purple for all our cars (hubby's such a brand loyalist).
When we first got the car we replaced the brake pads (to ceramic) and rotors (to cross drilled and slotted) and got new tires all around - just for peace of mind. We just did another tire replacement all around about 6 months ago. We've also had to replace the battery once.
We've done other things, too - replace belts, spark plugs, changed the fluids, and intake and go for K&N filters, added a front sway bar. We had to get the dog bone mount replaced along with some new gaskets because we started leaking gas after a pot hole accident (this city's roads are awful, I hate driving the car anywhere lol).
Other than some other mods and personal touches, that's basically it. Car still runs great and I hope we get to see it cross the 300K mile mark