I felt bad when that story came out about Toyota engineers pulling the panels off a Tesla and being in shock. Sure, Tesla has done some amazingly innovative engineering. But the interior of a brand new Tesla is more rickety than my clapped out Corolla. Toyota engineers shouldn’t feel bad, they build cars that last, and that really matters to a lot of people.
Building durable, reliable cars is more economically beneficial to owners than squeezing out another mile per gallon. (If you wanted to change that, you'd need to dramatically increase the tax on fuel.)
Finally, the catalytic converter bit the dust around 120k miles, the car was driven for a little bit more and then traded in, since the cost of repairs exceeded the value of the vehicle.
The first 12-13 years of the car were great, but the last 5-6 were terrible. Maybe we got extremely unlucky, but I just don't see where the legendary reliability stories come from. Seems like they are survivorship bias in the other direction.