Simply going to an auto parts store and grabbing *any* coolant is risky. Using the wrong type can damage your engine. Check your owner's manual (or Subaru's website) for the specific coolant type recommended for your 2000 Outback. The manual will specify the color and type (e.g., a specific type of antifreeze/coolant, often with a Subaru-specific designation). The auto parts store staff should be able to help you find the correct coolant once you know the specification.
In short: No need for the dealer for *replenishment*, but yes, you *must* use the correct coolant type.