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Have the control arms checked. At 50k they're probably ok, but might not be at that age.
have the brake fluid changed at a place that is familiar with using Toyota's proprietary software called TechStream ASAP. Old fluid is the leading cause of brake actuator failure in these older 4LS's and at $3500+ to repair at a dealer (and its basically dealer only due to software), you want to change (flush) the fluid once a year as a precaution.
I would also have the transmission fluid drained and refilled, as well as the rear diff.
Check the battery. There's a code on it that will tell you month and year of production, and if it's five years old (or more) it may not last much longer.
Check the tires too. They also have a DOT date code. With 50k on the car, the tires could be pretty old if they've only been replaced once.