Carfax may give you an idea of maintenance history. Also if you put the VIN into the Toyota Owners portal it will show you extra info the dealer may have added. If someone took it to their local mechanic it may or may not show the history. Regular oil changes don't really confirm/deny driver behavior, but they'll let you make up a story that will put your mind at ease. For instance when I bought my truck the PO put 48k miles on it in 2 year in Houston, with regular oil changes at the dealer so my perception was that they probably did a lot of highway driving and did the regular maintenance and took care of it. But if they were doing full throttle starts from every traffic light in Houston and using it as a delivery vehicle I wouldn't know.
I have a 2013 which now has 111k on it. Since we bought it in early 2016 it's been our DD (and only vehicle until recently). We average 12-13k/year, split between heavy city (Chicago) and long road trips out west (4-6k miles round trip) where we pull a fairly heavy travel trailer. My truck has some modifications as well. So yes your use case is fine, and the vehicle will likely drive and handle pretty close to new.