Doing good oil change only at 5K servicing make a warranty concern with new 4 runner ?

No, there is no warranty concern. These items are warranted against defects, not against normal wear and tear. Most of the inspect stuff is to avoid manufacturer liability or to drum up business for the dealer.

Even if you did not perform required maintenance (checking is not maintenance) on one item, it has no affect on the warranty of other items in your car.

You can safely change the oil yourself and maintain warranty requirements if you keep adequate receipts and documentation. I would strongly recommend synthetic oil, or at the very least a synthetic blend.

I NEVER do tire rotations, and usually get 65-100K out of a set of tires! The best I ever did was 120,000 on a set of Bridgestones.

Not rotating the tires will not void the warranty, since the tires aren't covered anyway! (They are covered by the tire MFG, but not by Toyota)

Mark and Hachiroku, thanks this does make it simpler. I will be using Mobil 1 and a Mobil 1 extended filter, but changing every 5K, anyway. I have already purchased the 100K warranty, and do not want to mess that up with not doing the changes at 5K, which, again, I will.

My previous car has steel wheels and, obviously, one could not look "through" the mag wheel and see anything. I take it that one still cannot see the actual portions of the brakes that are relevant nad necessary, but I expect to do the full checkup deal, as per the book, at 15K and perhaps they can be eyeballed then.

If you have disk brakes (I assume that you do), then they are designed to make a squealing noise when the pads need to be replaced. Obviously, if you encounter any unusual problems with the brakes or pedal feel, then have it checked at that point. Usually only the front pads ever need to replaced (on most front wheel drive cars) unless you have driven over 100K miles.

Certainly, checking the brakes every 5000 miles is overkill, and not checking them will have no affect the warranty on the brakes or any other part of the car.

Depends on the warranty on the tires, which is usually provided by the tire manufacturer, not by the vehicle manufacturer. For new tires from a tire retailer, they won't honor the mileage warranty without proof of tire rotation. A lot of people just forget about the rotations, and give up the mileage warranty. Except for Costco, getting a tire retailer to actually honor the mileage warranty, even with tire rotations, is just about hopeless.

The brake inspection is easy if you rotate the tires, so just do both. It should only be about $10 to rotate the tires.