Is a 5,000 mile change still recommended? I thought I read on one of the forums that it was only needed every 10,000 but my service engine notification comes on every 5,000.
I believe the later GenIII cars were switched over to 10,000 mile oil changes since using 0w-20 synthetic oil. The early 2010 models had the 5000 reminders but I believe the dealer can reprogram that to remind you at 10,000. I personally prefer having a 5000 reminder. That way I can check the car's oil level to make sure it's perfect. Just reset for another 5000 miles afterwards.
The oil change interval was changed early in 2011 for all 2010 and subsequent models. The light comes on as a reminder to do the 5000 mile services as well (tire rotation, fluid checks, etc).
I think the reminder intervals can be changed via the MFD screen under setup, or something. Service being one of them. SCH-I535
Depends on where you are in the world (according to Toyota). In Canada it's still (roughly) 5000 miles or 6 months, whichever comes first.