What that TSB referenced means (in other words) is that any brand of API certified, current ILSAC 0W-20, 5W-20, 5W-30 can be referred to as: "Toyota genuine engine oil". So that big bulk drum of Amalie or Chevron 5W-30 out back "there you go sir have a nice day!"
I hear you on watching them pour it in - or pump it. My VW dealer a few years ago pulled a fast one on me on a prepaid maintenance package. So now, I am changing the oil on my new trucklet myself. Sadly (for me) it has a huge undertray that requires removal. At least I only do Spring and Fall oil changes with about 2300 miles in between them, now that I am retired and no longer commuting 23,000 miles a year. - Arco