as others have said Toyota specifies 10,000 mile oil change interval. I change mine at 5,000 because I tow a travel trailer during the spring and summer months.
I grew up in the '60's when the oil change interval was every 3,000 miles, and stayed with that until the advent of synthetic oil. I really believe that a 10,000 mile interval is fine, but since I change my own, it is just cheap insurance to change the oil earlier.
That said, we drive our Toyotas well over 100,000 miles before replacing them and have never had to do more than change oil, filters, belts, and spark plugs.