It's definitely worth the money from Toyota.
Yeah, it was probably $160 when I bought it. But there's just something comforting about having the FSM for your model year with ALL the details in one place, and your own greasy thumbprints marking your favorite chapters. I've saved many times over the cost of the 2-volume set.
You can at least determine if there's a repair you can tackle on your own with tools in the garage, or whether you need to go to a shop to get something done.
I'm not a mechanic, but I am a skeptical cheapskate that wants to know what kind of fluff the dealer service advisor might say before I walk in the door.
Projects tackled:
Oil/Filter changes.
Drive train lube.
Coolant changes.
Air and cabin filter changes.
Wheel and Tire maintenance.
Starter replacement (what a byatch!)
Running Board replacement.
Body Trim repair.
Automatic Radio Antenna replacement (x3).
In-dash Navigation System install (tapping various electrical signals, routing through console, rear liftgate camera, BlueTooth, iPod...)
Various switches replaced.
Light bulbs all around.
Future plans which seem doable with the FSM:
Front brakes.
Lube or replace front hubs/bearings.
More electrical goodies (cameras, TV, DVD).
On-board air system install.
Transmission Fluid/filter changes.
Projects punted:
Warranty items. (Incl a front brake pad change due to warped rotors

)
Frozen E-brake (couldn't get the wheel off).
Cracked Exhaust manifolds (both sides).
Timing Belt or engine overhaul (I don't go into the block).
Probably would do a water pump and thermostat change though.
In hindsight, some of it was easy or intuitive, but it ALL looks doable from the description in the FSM at hand.