Daughter just bought a new RAV4 hybrid a couple weeks ago, looks like the manual calls for 10k OCI but I'm considering an early first change, not sure because she's got free oil changes every 5k for 2 years so that kind of already is an early OCI. Idk, she's only got 500miles on it so I have some time. But i have the same dilemma as the OP.
Related to those 5k free oil changes, I'm surprised they do that given it specs 0w16 which I assume means it's synthetic, and why would they offer to do synthetic oil changes at half the mfr recommended OCI? Its not like they'd be putting conventional in there, although I'm not knocking conventional. The only thing I can think of is they don't want to get into a regular service vs severe service argument so they just do the severe service interval which is 5k, and be done with it.
If it were my car I'd prob do all the oil changes myself because it's more convenient plus I like bonding with my vehicles. Plus I trust myself way more than the dealer oil change guy.