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Would you have any concerns around purchasing a 5 Dr 2003 Toyota Yaris 1.3 Auto with 140K on the clock ? For around town & general driving & have a 9 mth old baby so need to fit a Bullet / Car seat.. Any issues with fitting the baby seat ? Would there be any big expense items likely ? How far should they go before major work ? I feel the price is right for the milage.

I have no concerns about the make and model - it would be perfectly suitable for your needs. However, the mileage is quite high, so unplanned maintenance could be on the horizon. It's not really possible to say what expenses are likely, but at that mileage, run of the mill maintenance items such as brakes, suspension, steering joints etc will be wearing. More major components such as the transmission could potentially give trouble in the not too distant future too.
Not wishing to be alarmist (as the mileage isn't astronomically high for a 10 year old car), but it is getting up there, so make sure you are aware of this and it is reflected in the price.