That is not against, they simply said "unnecessary". One is neutral statement, against is a negative statement.
Most of the time vehicle manual is taking a position for normal usage condition within its design scope. It is not wrong. But from what I read in various places if we are talking about minimizing the wear and maximizing the vehicle life cycle, there are things that can be done differently to help. I believe that is what we are talking about here? Basically proactive maintenance I'll say.
Toyota never give you an expectation that the car can last 200K or 300K miles, it's service manual only go as far as 120K I believe. But if you want to drive a legend you have to treat it as a legend