I don't know and can't readily find specs on minimum thickness but the wear indicators on the pad are there just for that reason--to let you know (hear) when the pads need to be changed. Depending on the pad manufacturer and composition you're gonna find differing suggested minimum thicknesses; you should only follow Toyota's service manual suggested minimum thickness if you're pads are, in fact, Toyota OEM. As such, you should follow the aftermarket manufacturers suggested minimum thickness for your red slotted ones. Unless experiencing brake fade or hearing the wear indicators scraping I'm highly suspect that the dealership is trying to get some extra dough outta ya. And I highly doubt they went to some database in the parts department and looked up the suggested minimum thickness for your current aftermarket pads. Just not to long ago I had an oil change "mechanic"

tell me I needed new rear pads and rotors (they're less than a year old and I don't live my life 1/4-mile at a time when I drive) and that they weren't stopping equally to the front brakes during his test drive (test drive? for an oil change?

) I told him the last time I checked auto manufacturers haven't made rear brake pressure equal to the fronts because marketing found that potential buyers hated whiplash and possible death, dude obviously watched too much TV.