I aim for 5,000 mile changes, but sometimes that gets stretched to 7,500ish +/-. Basically, start thinking about an oil change when the reminder starts to flash (5000) and try to actually do it before it goes solid (7500). I've been running full synthetic for most of the 18 years I've owned the rig.
FWIW, Toyota shortened the recommended change interval, possibly with the addition of VVT-i on the 2UZ. In my '03 manual and onboard reminder, the recommended interval is 7500. I've seen later owner's manuals and possibly on the Toyota owner's site, that later 2UZs were reduced to 5,000 mile changes.
As Johnboy says, there's only one way to know for sure. But, even an analysis is subject to whatever driving conditions that particular fill experienced.
One can assume manufacturers are going to err on the conservative side in their maintenance recommendations (warranty). Now, how comfortable you are in exceeding that specification is up to you. I haven't been able to bring myself to push 10,000, yet. I always think back to the NYC Taxi study back in the ?80s? when the written-in-stone rule was 3000 mile changes. Even with the muck that passed for motor oil at the time, oil analysis said the cabs were good for 6000+, IIRC. Maybe the internet still has that information archived somewhere, if you're really curious.
FWIW, even as far back as the 4th Gen...a number of manufacturers had already started using the onboard computer to monitor engine parameters that impact oil life to notify the owner when a change was due instead of using a fixed interval. For instance, the BMW straight sixes of similar vintage to the 2UZ will allow up to 12000 miles, maybe more, depending on driving conditions. Our company Silverado trucks with the 5.3 liter V-8s allow 15000 miles, maybe more, between changes...how old is that engine design? Main difference is the quality of the oils.