Ideally you should always get a vehicle inspected before you buy, even if it's under warranty. There aren't a lot of things that go wrong with these, but there are issues (not super common, but not uncommon enough IMO) such as the secondary air injection pump which can go bad and cost a couple grand to replace at the dealer.
However I think with a long test drive and long personal lookover you might be okay, considering it's a Toyota product. Pay a lot of attention to things you might not think about everyday. Check each tire for wear. Look at every body panel. Look at all the seats (3rd row too) and check for tears, stains, etc. Turn on all the lights and features. Raise and lower the suspension. Engage low-range. And so on.
That said, 2010 and 2011s are now under the takata airbag recall, with no solution until early next year.
Something to consider if you are in an affected area.