Toyota does "adjustments" for 12,000 miles, but I don't know if that includes alignments. I just had to have our FJ Cruiser aligned after 18,000 miles. That cost more than I've ever paid before. They also balanced the tires at $15/tire, 50% more than I've ever paid before. Can't remember what the alignment cost because I don't want to. But $120 for an alignment—outrageous. RV prices.
On our Tundra, we didn't need an alignment for 95,000 miles. But I had a 1990 Nissan pickup that needed to be aligned a lot. Some are better than others and some need the rear wheels aligned too, but I think that's only on some unibodies.
Get a tire gauge at an aftermarket parts store. You can check for unusual tire wear before it is noticeable to the eye. It can also tell you if your tires are under- or over-inflated. Last one I bought was about $12. Right after I bought it I found the one I had lost. If I had longer arms and was wall eyed, I could check two tires at once.