Just follow the factory maintenance schedule. You're coming up on 60k miles so I would look at doing a transmission fluid drain and fill.

Scotty is big on doing an ATF drain and refill every 30-60K miles, so that plus the usual - air and fuel filters, check serpentine belt, check hoses, check brake pads. Look at the service intervals in the owners manual (if you don't have one, download one from toyota.com).  Scotty has videos showing how to do these things.

The nice thing about checking things thoroughly periodically is that you catch problems when you can get them fixed at your convenience and inexpensively,  rather than having a problem on the side of the interstate.