ProfBerta,
You were smart to avoid a "mileage number" based service and stick with specific procedures. Dealerships tend to pump those even mileage services (15,000, 30,000 and so on) with procedures and inspections as a way to justify the huge price they charge for them. The service guide that Toyota provides with each car is your bible to scheduled service. If you follow it you will be doing the services necessary for warranty and on top of that you won't be overcharged for inspections and lookieloo procedures which do not actually have any significant value to you or in terms of the price charged for the services provided.
Last time I was at my local dealer waiting for my oil to be changed, a customer with a different Toyota had their service booklet with them at the reception desk trying to get the service writer to justify the extra services they were doing at 30,000 miles that were in addition to what their service guide was stating needed to be done.
So, the lesson learned here is that even folks driving conventional Toyotas have to stick up for themselves so they don't get screwed at the dealership on those preprogrammed service packages which cost way too much.