"It's normal" is the standard stealership response to avoid fixing issues under warranty since it has no benefit for them. If you have a trusted independent mechanic have the person find the problem then knowing the issue go back to the dealership and tell them to fix it. Don't tell them you had your mechanic check it, just say I know this can be the reason. At least this is what I've done and has worked because then they know you understand about cars so they can't give you nonsense responses.

Never trust a dealer. A sticking clutch is not normal. Keep documentation of everything. You might have to go to Toyota themselves to demand action. I had to do that myself. Also like the other poster said you can get an independent mechanic to diagnose and get the dealer to repair.