I am in the same boat. I cannot change my own oil, but I want things done right and prefer not to take to the dealer.
Order on Amazon OEM filters
Amazon.com
Order on Amazon Toyota Oil - my 4runnner needs 5 3/4 quarts
Amazon.com
You can either call a mobile mechanic to come to your home to perform the oil change or the Jiffy Lube near me will use my oil and filter if I ask. Offer extra tip, ask service provider to take their time and take care, not over tightening screws on skid plate or pan bolt.
Search this forum or youtube for excellent step by step instructions so that you know what to look out for while observing the oil change.