Portland,
welcome to Automotive Forums..
you say, "I Drove on Dirt"
i would not worry too much..
here in colorado, i've taken my wagon; and my Fiero,
where jeeps fear to tread; DAILY, AND FAST..
Toyota (and most others) rigidly test their vehicles
severely prior to producing for the masses:
https://www.youtube.com/watch?v=jodZwq2_61w
https://www.youtube.com/watch?v=CmU5buZ7kmc
and they do this vigorously to insure that a good percentage
will not have issues.. if you are still concerned (even without
bells and whistles, and engine light/codes illuminating your dash),
you could find a wheel/tire/alignment shop (as many do free alignment checks),
and have them throw it on the rack; and tip a fiver or ten, to have them do a
'walkaround' while it's up in the air..
most all critical service items (on any car) are above and within the actual frame..
you may have some scuffs that even H3/hummer owners don't have; being you
actually went off road, but if the car seems to be operating normally, you may not
even need an alignment..
the TPMS trips whenever one (or more) tires drop from 2-5% of the others.
(manufacturers say this is for safety, as undo wear and roll control can lead to premature tire tread loss and failure, or unsafe; potential rollovers (Ford Exploder v. Firestone), but really i think it was just 1-3%mpg for every 2psi lost)--but i digress;
-- no need for a dealer (unless they are close, and you have some sort of 'frequent
flyer plan', and a check or service is free).. heck, if it is almost time for an oil change;
wherever you get this done, will either put it on a lift, or have a pit; just have them do
a visual inspection; no charge.