Have the same engine in an 01 Tacoma now with ~130k miles. The 3.4L is very easy on oil and very durable. Depending on what oci most any quality dino, (I prefer majors/name brand), will easily handle 5-6k oci's with no problem. Longer for majority highway driving. I've run mostly dino for 5-6k oci's. The last two were with free after rebate G-Oil.
If you want to run longer 10k+ ocis, most any quality synthetic will do nicely.
Bottom line, in my experience with regular maintenance the 3.4L is not fussy.