I say you're fine as long as you keep up on the oil changes and wait for it to warm up like you said. These motors are made to run forever. The thing I worry about in this car is the CVT, when I'm beating on it, it acts funny.
I bought the Toyota because of the historic reliability, same reason I bought the Honda Civic Si. I've had my Si for almost 8 years now and 82,000 miles. It revs up to 8 thousand rpms, and it goes up that high nearly every time I drive it. I am religious on the oil changes and other maintenance so I figure I'm fine. It currently runs as perfect as it did when I bought it.