Half of your cost is your $50k car choice, though, and doesn't include resale value of around $15k (I'm looking at 2013 highlander prices. It's probably more because you chose a bunch of upgrades, see below). Drops your yearly costs by $1.5k right there.

Get a reasonable car for $25k-35k and your costs drop significantly. Hell, your $50k number means you chose to have a bunch of upgrades. The base MSRP is $36k, and I'm seeing dealer advertised prices of $37k near me. I have to go all the way up to the "Platinum" tier to find $50k prices.