No not at all! If you are still on your oem fill, I would not go to any great lengths to change it (like in the old school times and ways) acting as if in the assembly process they used a new engine to get rid of all the debris sand and dirt in the shop!! It is just not the case!
The only issue I personally would have for a Toyota Camry V6 is just to make sure it is not a variant of the now infamous "sludge" monsters. NO oil, conventional or synthetic can function well if it has to lubricate areas in an engine that in effect cook (coke) the engine oil.
Today's conventional engine oils have truly come a very long way! However synthetics are slightly to much better, overall.
I have broken in 5 Toyota I6 motors, just changing to synthetic after the first recommended normal OCI with the factory fill. I have broken in a Corvette Z06 motor which comes with factory fill Mobil One 5w30 pao IV synthetic. I did revert to old school ways and did make the first oil change at 1600 miles. This OCI was a total waste of time and materials. The oil looked as if I had just poured it out from a fresh container and I did cut open the oil filter and it was virtually debris free. Since the 1600 mile oil change I run 15,000 mile OCI's.
I have broken in a new Honda Civic and will keep the factory fill in (Honda 5w20 made to Ford and Honda specifications by EM, whose same product is EM Superflo) till the normal recommended OCI of 10,000 miles. At that time I will go to Mobil One 0w20 and or the new 5w20.