I've seen various references to the federal emissions warranty; the best I've been able to track down is the warranty statement: "Specified major emission control components under emission performance warranty are also covered for 8 years/80,000 miles. " Is there a list somewhere of what exactly these "specified components" are?
My warranty booklet provides the info you seek (for 2005 model). I suspect the warranty book for the 2001 model provides applicable info for your car. If you don't have the warranty book, any Toyota dealers service department should have the info available for you to look over. edited for clarity