Just my opinion. Decent price = yes. Maybe.
We have purchased over a dozen used vehicles and many more new ones.
Hope you don't mind some other observations:
I would like the service intervals to be 5,000 miles apart instead of 10,000.
Also the mileage could be better.
Then too you are out of warranty for major, read expensive, (as well as minor) component failure. I'm sure the dealer will sell you a third party warranty which is a great profit source for the dealer. Voice of experience: there is no guarantee the non-Toyota Factory extended warranty company will still be in business when you need them, much less cover your claim. Promises from a finance manager don't count in the real world.
Also, it's a New York vehicle so I'd do an extra close check on the undercarriage unless NY has changed how they treat their roads in winter.
It's also a Trail, so was it used extensively/abused off road? Can't always tell from the paint, body, tires and interior.
So, thoroughly go over and under and test drive it. If you still like it, have it meticulously checked out by an independent garage. That last suggestion has saved us thousands of dollars.
Finally, a couple of thousand for an extended warranty and you are looking at 30K for a 5 year old vehicle with 80,000 miles. Already has 5 years of unknown use on it.
OR Up my payments a little/longer term/a little more down, I purchase a new vehicle with no prior use/abuse with the first three years of my use covered bumper to bumper for any major and almost all minor problems... and... major components for a total of 6 years or 60000 miles for $6,000 more.
OR purchase a newer vehicle with a couple of years of use on it that still has a year or so of bumper to bumper and/or is Certified Pre-owned which adds an additional year of Toyota Factory coverage.
Good Luck in finding the vehicle that fits your wants and needs.