This time of year it's not a big deal IMHO. Next oil change specify 5w-20 or 5w-30.
BUT! It's not ok according to TSB EG018-06 which authorizes 5w-20 for 2006 and later. It also talks about 0w-20 only on certain engines, not ours. Get them to write that it won't void your warranty
"Engines That Can Use 5W–20 and 0W–20:
OIL ENGINE
ILSAC GF–4 SAE 5W–20
AZ series
GR series
JZ series
MZ series
NZ series
RZ series
UZ series
VZ series
1ZZ–FE
2TR–FE
ILSAC GF–4 SAE 0W–20
(Beginning with 2006 MY)
2AZ–FE Camry
2AZ–FE Solara
2AZ–FE Highlander
2AZ–FE RAV4 (ACA3#)
NOTE:
DO NOT use these oils in engines other than those listed above. These low–viscosity
oils cannot maintain lubrication effectiveness in engines with older designs and could
result in smoke emissions from the tailpipe and/or unusual engine noise.
Recommended
Engine Oils
(Continued)"
Maybe there's a newer TSB that makes it ok, I don't know.