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Not in the UK they don't. Toyota dropped the warranty package in late 2009, when they introduced the new model Prius. Then, just a few months...
If only! Here in the UK, it is two dollars a litre, so well on the way to ten dollars a gallon.
What does it say in the car handbook? here in the UK, the service interval is 10,000 miles, or one year, whichever comes first. So you won't hurt...