Your driving style is described as light load, which generally promotes long valvetrain and transmission life but less impact on oil longevity. Oil shearing happens more in engines with high oil pressures, oil injectors (for piston cooling), etc. Load does not affect oil pressure while RPM does, and if you're always under 2000 RPM then oil pressure really doesn't change all that much in *your* normal driving. Your driving style really does not affect oil longevity, assuming your engine is healthy, getting it to full temperature regularly and not short-tripping it too much. So for you, it's the design of the engine that is the main factor and non-turbo, non-DI Toyotas are generally easy on oil.
I suggest maybe once every 5 trips you romp on it when it's at full temperature. You don't have to hit redline but you should spool up the RPM and put some load on it. This will exercise your timing advance and performance features (including variable valves, if equipped). Doing this occasionally will keep things cleaner than babying it around all the time.