I for one didnt get it because the primary reason for me buying a toyota was because of it's reputation for reliability. My dad also owned many toyota's in his life and they never had any problems, his current one is a 6 year old sienna which he bought brand new and it has never been in the dealer for any repairs other than regular maintenance. However, there is an option to get extended waranty later on but there is a surcharge of about 50 - 200 bucks here in canada depending on how many KM I have if I decide to purchase the extended waranty.
I for one dont like to put money into the dealer's pocket for any reason, IMO if your dealer over there lets you choose to buy extended waranty later on in your car's life, i would go that route and wait it out, just in case your car runs into reliability issues in the first 40,000mi then it might be best to get one. However, most likely your car will be just fine and it will depreciate like a normal toyota would and last very long like it should.
The dealer will always try to squeeze more money out of a deal to favor themselves but that's up to you to if you want to donate more cash to them. I'm sure a lot of people will disagree with me, but since you asked, it's better to hear from more than one side of the story.

If you really want your car to run optimally, i would suggest learning how to do basic car maintenance yourself like oil change, checking fluids, checking tire pressures and threadwear. Learn also how to rotate your own tires, because when you can do that, taking off those tires gives you the opportunity to inspect brakes: rotors and pad thickness, brake lines, steering joints, and shocks. Get yourself a couple of 2 ton jacks, 2 jack stands, a set of good ramps, 12v tire inflator, 3/4 ratchet with 8mm-19mm bolt extensions, and a reliable tire guage and you can pretty much do MOST of the maintenance yourself; You would just have to take your car in every 10,000mi to check the battery charge, that costs $15CND here. The other stuff like Transaxle fluid change, coolant flush, spark plug replacement, brake replacements, and serpentine belt changes can all be done at the dealer. all of these wont even cost a small fraction of how much extended waranty will cost you.

I forgot to mention air filter and cabin air filter changes. Those are really simple i think the cabin air filter change is outlined well in the manual. As for the engine air filter, it's right infront of you when you open the hood.

good luck

gj