Toyota Avensis Verso 2.0 GS

My Toyota Avensis Verso is 3 1/2 years old, it's had a gummed idle control valve causing it to stall (costed me £550 to repair). Transmission sometimes misbehaves (no action taken) ,starter motor making an overcranking sound after starting (meaning a replacment is needed). I had to replace both drive shafts that were worn (at a cost of £1,200). I've done 90k miles and serviced it as needed at a dealer, for this I could have been better off with a Vauxhall, where is the Toyota reliabilty? I am now getting the engine light coming on and am advised this to do with the system that mixes to oxygen and fuel, there are also signs of rust. Stay away from this model.