How to drive my 2007 Yaris forever

[heistp]

I've had a 2007 Yaris since I got it new, and it now has just under 100,000 km on it. I love the car and would like to keep it as long as I can, but after my recent mandatory technical check (every two years here in Czech), it's still approved for the road, but the items listed on the report suggest that time and rust/corrosion are my main enemy. I had nothing listed two years ago and maybe the tech was just nicer last time, but this time it's:

• mild surface corrosion of brake lines
• minor corrosion of the frame (doesn't affect strength of vehicle)
• minor leaks in exhaust system seals
• minor corrosion of body work

Recognizing that it can't last forever can anyone suggest any preventative steps I can take so it doesn't rust out before its time?

It is driven in winter, and has been in a slightly heated garage for the last few years. I don't regularly wash the undercarriage, for example. If some minor corrosion has started, is washing it still a good idea? Can I protect it somehow? Otherwise, I take it once a year or as needed for routine maintenance, but it hasn't needed any major work so far.

Thanks for any ideas...