I traded my 07 Yaris 3 month ago for a RAV4. In less then 2 years I put on 150,000km (94,000miles) of mostly in-city driving. Left rear abs sensor gave out at about 100,000km. They had to replace both the sensor and the harness since the connections were getting corroded. Otherwise, everything else was working well. Especially the engine which became quick from all the hard driving. Also, the brakes where still original and like new. The dealership wanted to machine em because they seemed glazed, but I told them not to, since braking power was still at 100%.
Interestingly, the cost of extended warranty for the RAV4 and the cost Yaris's extended warranty are the same. Go figure considering RAV4 is a 26k car with 4WD and traction control vs a Yaris which is half the price.
If I were in the market for a another Yaris (which is highly likely) I'd probably skip out on the ABS and also skip the extended warranty. Toyota really needs to address the under chassis wiring to handle our harsh Canadian winters???. Granted, the ABS/EDS on the Yaris is awsome, but I'm a old school driver and make do with a good set of winter rubber.