I did 5k A-RX cleaning cycle in my 98 Camry V6 the during the second cleaning phase. The original 3k cleaning cycle didn't do much upon inspecting the valvetrain.
I suggest you leave it in longer.
A-RX even has 5k mile cleaning / rinse cycle recommendation on their site, in one of the instructions.
The only reason they recommend the 3k drain is if there was a lot of cleaning going on and the oil filter / oil is loaded with stuff.
If you are just doing minor cleanup and this being the rinse phase, don't dump perfectly good oil. Change it after the trip. The high temps and oil pressure for sustained time will only benefit your engine.