Shop around. Different dealerships charge different amounts.
Also READ your owner's manual to find out exactly what is recommended at 30,000 miles. If you can't find your manual, register at Toyota's site
http://toyotaownersonline.com/ (free) to read your manual online. Most dealer's service departments, if you tell them "I want the 30,000 mile service," will do a LOT more than the manual requires, and thus you'll pay much more. Confirm what you really want and get them to give you a price for that.
And it's NONSENSE that going somewhere else will void your warranty. That was outlawed 35 years ago!
en.wikipedia.org