I've got a 2007, and it's a great car. I've had really good experiences with my local Toyota dealership for service too. Definitely better than with Ford, Saturn, or Chevy.
I have a lead foot, so my mileage isn't anywhere close to optimal,
but it is very good (mid-40s), and I haven't noticed a decline over the years (I got it new). There is a mileage hit during Minnesota winters, when the engine runs more because it needs to keep warm, but it's still in the upper 30s per gallon. I've had to replace the battery (12V) and tires once each, which I think is pretty normal. The big battery pack is still holding strong.
Acceleration is good, I'm often cursing the putzes in front of me merging on to highways.
Turning radius is tight. Stereo is good, but mine only has an auxiliary jack, no USB. We regularly have a couple of friends in the back, and they have room to sit comfortably, though it's preferable to have the shorter (5'6") rather than the taller (6').