Sad story. Somehow the products that fail, always seem to fail as soon as the warranty is over. Hopefully the dealership will help. If not, you may need to approach Toyota corporate directly, perhaps with a lawyer. You shouldn’t have such catastrophic damage with such low mileage if you can prove it was maintained by the book.
I have one too. I wouldn’t mod it. It has decent power and great handling. I’d advise to invest in good tires. That’s all.