Lots of things. You can use plain grease, dielectric grease, vaseline, special terminal sprays, felt pads, etc. Those will all help, but corrosion will always occur - just a function of system. Te trick is limiting the amount of corrosion that builds up - quickly cleaning off any signs of corrosion before it gets too bad. Should be put on both the battery posts and the terminals.
When running - alternator should be putting out somewhere between 13ish to mid 14 volts. Exact expected range will vary from model to model - most Toyota's that I've worked with, unloaded, they can run from 13.2V to 14.8V.
Don't read too much into why Toyota limits them to 14.2V - there is a limit, but that is on the the voltage regulator side. Some run a little more than 14.2V, some run a little less. It makes sure that the alternator is not putting out too much or too little juice - otherwise, the alternator would be putting out maximum power all the time. This limit is dependent on a number of things - usually to safeguard the battery from overcharging.