1st off, in on the earlier threads they make a great point in that the brake fluid should be flushed. My father and I have owned around 8 camrys over the past 15 years. Each one we've owned we've racked up around 150k miles each, driving each one pretty hard. 7 of those camrys were just simple services (oil/transmission/air filter & so forth). The eigth one had catastrophic ABS failure (pump, slave cylinder, booster), simply from not changing the brake fluid. The fluid had absorbed moisture, and various other contaminants. In the end it was so much $$$ to replace we wrote down the car, and gave it to charity. Now, we simply change the fluid every 3 years. If you look at the fluid you'll notice its a golden yellow color. Around the 3 year mark, it starts looking like Coke.

2 year may be a little premature to do the service. 3 years/36 miles would be perfect

As for the servicing, it should ALWAYS be done by Toyota. The parts in the braking system are sophisticated, well engineered hydraulic parts. You simply don't want an average joe to start messing around with those parts. At least with dealer techs you will get it done right without any problems.