I could go into all the science and engineering behind an oil recommendation, but first... why are you asking a bunch of yahoos on the internet for information on what will and won't void your warranty? Toyota determines that; no one here is going to pay up if they turn out to be wrong, you know?
With that said... cold oil flows like sludge until it heats up. The majority of the wear on your engine occurs when it is cold because the oil is too thick to move properly. After driving your car, your oil is hot and moving freely, and when you turn the engine off, it drains away to the oil pan like water. When that oil cools back to ambient temperature, it's flowing like sludge again. Our engines are engineered to perform best with 20 viscosity oil at operating temp. Until it reaches that operating temp, the lighter 0W moves well enough to keep the engine lubricated. I would never use a 30 weight oil in this engine, it's not designed for something that thick.
The only reason to use anything other than the 0w-20 Toyota recommends is because you can't find it, and even then they say only 5w-20 is a suitable substitute until you can find the right oil. You might be able to use straight 20 weight oil in a temperate climate, but why risk it just to save a few pennies every 5k (or 10k) miles?