I have a 2000 Avalon 125,000 miles which is very similar.  I do oil
changes about 3 to 5K miles, transmission and cooling at 30K and
timing belt and spark plugs at 100K.  This is my understanding of the
required maintenance, not what the Toyota dealer would like to sell
me.  In addition to maintenance I did front brakes at 80K, 3 batteries
and on third set of tires jut recently.  I think all these service
cost about $3000.  Average of $400 a year.  The car still runs
flawlessly.  Could you elaborate what you have done and what your
costs are?

(fuel injectors, steering rack, steering pump, charcoal canister,

I've got a couple of cars over 200,000 miles and neither of them have
had the work you describe above. I replaced the O2 sensors (not CO
sensors) at about 175,000 miles in both cars. My 1998 Sienna, with
210,000 miles, costs me about half your figure for annual repairs,
maintenance and upkeep.

What part of New York do you live in?

I am not a car guru and do no work on the car myself nor do I know
anyone that can. I take it in to the dealer (they've physically the
closest shop I can get to) for all recommended servicing and whatever
else pops up and yes, something usually pops up. Still I've gone along
with it since knowing the car will start when I turn the ignition
wherever I am is most important to me, so I chalk that up to
preventative maintenance and not knowing a thing about cars except
what I've learned by paying for various services. Most recent expenses
$800 for routine service internal, fuel injector service, new valve
gasket covers (and I forget what else), $200 for brakes, $1100 for
steering rack and pump, and $400 for one new fuel injector. Live in
northern NJ. I guess I need to marry a mechanic!

Some of those items dont sound right, if you have a dealer do the work
what do you expect, they have to maintain those nice shops and pay for
the free coffee and dounuts I have never seen one that isnt double the
price or doing whats  only necessary compared to a independant
mechanic. I just had a car in and they wanted to replace the front
brakes, engine oil and plugs, which I just did a month ago, oil had
100 miles on it. For most dealers work can be done at up to 75% less
somewhere else.

The V6 is an expensive car to maintain, the 4 cyl is a much better
choice, I think if you had the extended warrenty they probably would
not of done most of the work you described.

We have a 1996 Camry with 120,000 miles on it. It's very unusual to have
some of those repairs that you've had to have, i.e. the steering rack,
charcoal canister, and CO sensor.

Tire rotation is free at most tire stores (including Costco which almost
always has the best out-the-door pricing on tires).

Stay away from the dealer (and Jiffy Lube) for oil changes and brakes
(unless the dealer has a special). Find an independent shop that will
use Toyota parts (filters, brake pads, etc.) rather than low-quality
parts that the mass-market retailers like Jiffy Lube, Midas, etc., use.

The most expensive repair I've had is the struts and shocks at about
115,000 miles. Could have gone longer, but one strut mount had to be
replaced (a common problem on this generation of Camry) so I had both
struts, both mounts, and both shocks replaced and it was around $800.
The other problem has been the IAC valve (idle air control valve) which
is another common Camry problem, but an honest mechanic just cleans it
for $20, while a dealer will charge $400 to replace it.

The V6 is more problematic than an I4, and in most parts of the country
is unnecessary as the I4 on the Camry has always been sufficiently
powerful even for steep hills (though maybe not for extensive mountain
driving).