I have a 2006 with 165,000
I have a 2006 with 165,000 miles on it, that is 11 years old now in 2017 and it still drives like it did when it was new. I have only replaced a u-joint and a wheel bearing so far. I talked to a master mechanic at toyota and he said to expect to get 250,000 miles minimum out of it and he sees them in the 300,000 mile range from time to time for maintenance. So, I would say 20 years would be a good estimate for a 12,000 miles a year driver and maybe more. If you do the scheduled maintenance it will last 20 years with no major issues. After that it is a case by case I think. Hard to put an exact number on it.