honestly dude you just have to fight it with them and they will cover it. Toyota has been kinda bad about that lately. i honestly think that when a warranty issue comes in they say its going to be $XXXX.97 and see who pays it and who doesnt.
few examples: 2007 FJ Cruser with 65K on it.
1) the rear end starts making noise takes it in and they tell him since he is lifted its not covered because he "off roads" before he had to put up a fight the dealership that he bought it from called him and said they will send a tow truck to come get it and take it to another town and do the work for him, but fully covered under warranty.
2) his cat went bad a few weeks ago. took it in they said it was going to cost him $1800 to replace them....he simply said "i have an 80k mile power train, and according to that the cat's are covered" the dealer said "well let me check on that" 10 mins later called back, "we will cover it under your power train warranty and get that replaced for you"
put a fight with them...do you know anyone that has a shop? if so have them print you up receipts for the "oil changes" if not just go into word and make up a shop and print your own. they CANNOT refuse you warranty work from having another shop do it, its against the law actually.