Change it every 5000 miles religiously so your car runs forever 

Toyota recommends oil replacement for the 2.5L I4 with 0W16 oil. The interval is specified as every 10,000 miles, but that's a "one size fits all" recommendation, and does not consider many other factors than can affect the oils ability to lubricate, such as high-dust conditions, off-road operation, periods of non-operation, and others. Most dealers will tell you to bring it in every 5,000 miles, but usually just check the oil level, viscosity, and level of contamination between 10,000 mile periods. If it looks and/or feels bad, they may change it, but usually they only do the replacement every 10,000 miles. My recommendation for the best long-term operation under all but extreme conditions would be to do oil (and oil filter) replacement after every 5,000 miles or every 3 months. Oil and Filter changes don't cost that much, and I know from experience that oil changes are a lot cheaper than engine replacements.