I may be missing something but from memory I've had the following issues outside of servicing, tyres, pads, discs etc:
98 GS300 - 2 years - no issues.
99 IS200 - 3 years - my wife's vehicle, no issues other than corroding alloys and two headlight bulbs.
01 GS430 - 3 years - purchased with 3 months left on factory warranty and initially needed new central locking motor, door lock mechanism and windscreen refitted due to wind noise. After the warranty expired I think I have an oxygen sensor go bad which I replaced myself and a normal sticking brake sliding pin which I fixed.
01 RX300 - 5 years - my wife's vehicle. A couple of oxygen sensors go bad which I replaced myself and a normal sticking brake sliding pins which I fixed. One sidelight bulb.
05 RX400h - 5 years - a couple of sticking brake sliding pins which I fixed. 12v battery got weak after 4 years so I replaced before it failed. Rear light cluster started to leak as rubber seal become detached - glued back on myself. Corroding alloys.
13 IS300h - 2 years - new power steering link assembly due to notchy steering feel, new drivers seat base due to movement during braking, new automatic wiper sensor, multiple firmware upgrades on infotainment system - all performed under factory warranty.