I've got the Yokohama AVID Ascend on my 2007. I actually got them for free, when I got a flat on the previous tires, brought the flat into the local Toyota dealership, and they said, "We can't let you out of here with your current tires. Toyota has told us they aren't safe enough, you need 4 new ones." Since my current tires had little wear and were only a couple of years old, they put the new ones on for free.*
So, they perform similarly to or better than the previous, as far as I can tell. Mileage is much the same; handling in dry, rainy, icy, or snowy conditions has been good. I've had them for ~5 years (30-40k miles) now, I think, no problems at all. I'd recommend them.
*Not the first time this dealership has avoided gouging me - I'm actually quite impressed.