Is this with the V6?.....which would be the 3.3L (there is also a 4 cylinder version).
If it is the V6, it is the 3MZFE motor, which is built on the 1MZFE 3.0L design.
They use the same oil filter.
I would recommend the Bosch Distance Plus Filter.
The size for your 2006 (V6) would be D3330.
The FRAM filter that would be good would be the XG3614.
I upsized to Bosch Distance Plus D3422.....or FRAM XG3600
I did a lot of reading and this filter upsize keeps the same pressure bypass, same thread size and physical dimensions EXCEPT that it is slightly longer.
It is up to you as to the filter size, but I do really like the Bosch Distance Plus filter for your application.
It has the extra holding capacity (either size) over other filters for that long neglected time until you see this vehicle again.
It also seems to be a really rugged construction.
AMSOIL has a great product, but they do NOT recommend their 25K mile interval for their filters or oil in your vehicle (or TOYOTA vehicles in general).
If you choose a AMSOIL product.....one of their long drain products, you cannot go wrong with them.....if you want to spring a little more money for a step up from Mobil 1.
Mobil 1 is also a great product.
I would NOT go heavier in oil (the 0W-40) but would stick with the 5W-30, 5W-20, 0W-30 or 0W-20 oil.
The 0W-xx oils will give you better cold flow (not just in super cold winter).