I've been doing 10k/6 month OCIs on my '12 Camry (which sees 15-20k a year) with the same 2AR-FE. It sees a good bit of highway driving and isn't really short-tripped very much, so I'm reasonably comfortable with the plan. I use M1 EP 0w20 for some bit of peace of mind, since that's now rated for 20k (and is only a couple bucks more at Walmart), and pair it with an OEM filter. Seems reasonable to me. But if I short-tripped and didn't do much highway driving I'd go 5k for sure. It really depends on the way you use the car. And, FYI, it isn't that they say if synthetic is used to go 10k - the manual specs 0w20.