I'd make sure your plugs get replaced every 100k miles, then replace the coils as needed with Genuine OEM Coils.
My short story is this:
At 260k miles, while on a long (2.5 weeks) trip out west, I got some stumbling and stuttering in low rpms, high speed (Think 60 mph in 6th gear, right before it kicks down to 5th). No codes initially, then it threw a "Misfire cylinder 1" code. Replaced coil on cylinder 1 with one from NAPA (only one available on a Saturday 100 miles from the nearest dealer) That coil lasted about 1000 miles before the issue returned. Replaced with another from Advanced Auto parts and made it home on that one.
Once Home, I replaced all the plugs, which I am pretty certain were the original plugs (Tips worn off), and replaced the coil with an OEM Toyota coil. No issues for the past year since. I keep the used but functional Advanced Auto coil in the truck as a just in case.
Planning to head on a few several thousand mile trips this summer and not worried. The coils are easy to replace, and when one goes you're not stranded, especially if you carry a spare. They're also fairly easy to find in a pinch as they cross over to the Tundra.
Note, I would avoid replacing yours pre-emptively unless you're just really worried about it and you are ok spending ~$600+ on OEM Parts. Definitely avoid the
Amazon/E-bay cheapies. I suspect they're similar to the parts store ones that I blew up on my trip before getting everything sorted out at home.