If you have an honest Toyota dealer, why not let them change the oil for you. The oil and labour is about £45. The oil on its own comes to that price already. So why mess around?
The reason I say "Honest dealer" is that they may not use the correct type of oil. In my case they put in 80w GL4. Which should be 75w GL5. Unfortunately I don't have a trusted dealer in my area.
Putting in the wrong viscosity causes gear change problem from the moment I driven from the dealer.
My preference now is to buy the oil and ask my independent garage to do it.