Yes. I've had warranty repairs New batteries from the dealer will probably outlast your car (assuming you bought the battery around the 10 year mark) I've had warranty repairs on the following years 2014 (purchased a car with this done) 2015 2018 How would you know if they didn't do a good job? They may miss a bolt or to put back the rear hatch light, but you would need to take apart your car to find any problems
Over the past 10+ years I have never had a customer come back because of a failed NEW Toyota replacement HV battery.