The starter is easy to work on it's just that you must pull the intake to get to it since it sits on top of the block. $10 in parts to replace the contacts inside the starter and $70 worth of intake gaskets! The fact that the manifold has to be removed and they will only replace not rebuild a starter is why the dealer quotes big money on this job.
Like foopid stucker said there is plenty of room in the engine bay so most work is easy. Radiator replacement was stupid simple compared to my E39 BMW, the Toyota OEM radiator went 16 years and 164K miles. Use only OEM / Asian spec coolant.
Outside of warping front brake calipers the only failure I've had was self-induced. I had to replace a rear axle seal because they are not compatible with synthetic gear lubes. By 2004 things might be different but check before going synthetic in the diffs.