35K PMS is just an ordinary lube service. Its basically draining the old oil, unscrewing the old filter, installing the new filter, and pouring in new oil.

Oh yeah, while your old oil is draining, the Toyota tech would just check (eyeball) your belts, battery poles, brake/clutch fluids, brake pad thickness, etc. Check your service manual its all there.

Its all just checking, noting it down on the service job order if there's anything out of the ordinary. Then service advisor calls you if the situation needs fixing, other wise its all just tick, tick, tick on the checklist.

A bit of cold start tappet noise is IMHO "normal" in some cases. Its on a case to case basis though, very subjective.