I need to amend my prior post because I was confusing the Toyota branded fluids with Honda (my wifes car). Both manufacturers tell you you MUST use their brand of fluid in their vehicles. They are both wrong. A Honda Oil bottle is the EXACT same as MobileOne (because ExxonMobile makes Honda Fluids in the U.S.).
Purolator makes the U.S. version of Toyota Filters (Japan Toyota filters are made by a Jap company, I think Denso also makes filters for Toyota overseas)
If the service tech told you that your warrenty was void for not using "Genuine Toyota Parts" then he told you the biggest lie/scam in the automotive business! The Magnuson-Moss Warranty Act of 1975 states that a automotive dealer may not require you to replace ANY part of a vehicle that you have purchased with only a "Genuine Part" unless that dealer replaces that part for free. They cannot make you put any one brand of filter, tire, bulb, alternator, starter, etc... on your vehicle. Very few things actually LEGALLY invalidate your manufacturers warrenty. The dealer just wants you to think that. Think I am wrong? Call a lawyer and ask.