Every 5000 miles or 6 months.
depends on oil
if 0w-20 synthetic oil is required this pushes the service to 10,000 miles and 12 months whichever comes first
unless you are such as: driving off-road, on dirt roads, towing a trailer,
http://toyota.custhelp.com/app/answers/detail/a_id/7604/~/what-are-the-oil-change-intervals-using-synthetic-oil%3F
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