Toyota determined that the braking system does not get hot enough to require DOT4 fluid, so they called for DOT3.
I used DOT4 in some of my parents cars, and it worked perfectly.
According to automotive books, DOT4 degrades more quickly than DOT3. That in mind, I see DOT4 stay cleaner than DOT3 anyway.
I like Toyota's DOT3 fluid. It tends to stay cleaner than generic DOT3 from a parts store, or "GM Delco supreme" fluid.