I highly doubt Toyota will do it for you, their answer will sound something like this, "Adjust clutch pedal? why would you want to do that? Toyota cars are perfect in every way!" Well maybe not the last part, but you get the point.
Do it yourself, it cannot be easier: Loosen one nut, rotate rod (one turn at a time), re-tighten nut, Drive and see how your like the adjustment. Like many of us here agree, adjust your clutch pedal down to the same level as your brake pedal.
Adjusting the clutch yourself gives you the ability to dial in what feels "right" to you, especially when the smallest of adjustment can affect the engagement point.