That is absolutely silly. You are just asking for a big ass can of worms to blow up right in your face. If any auto manufacturer ever called out head gaskets as an interval change or maintenance item, it would be ridiculous. Funny enough, it would neither be under warranty either. If Toyota did that specifically, it would be the end of their company, unless someone made a setup where it was easy to change, as easy as a spark plug.
How about, lets change the torque convertor before it blows, or better yet lets change the pinion gear in the rear end before it grenades.
IMO, once you get into head gaskets, you might aswell pull the motor, and reseal the rear main, and oil pan, and everything else. Makes the whole job better and easier on a stand.