I lifted this from another post (and just did this myself):
There must be a new updated manual as I looked online at the owners manual thru Toyota's and it's on page 501 now.You can sign up thru Toyota to view the manual online by clicking on the OWNERS LINK on the Toyota website.Anyways here is exact wording copied from manual.I doubt they will change the light coming on at 5000 miles since severe duty ones still should change then plus it's so easy to reset the light.
After changing the engine oil (U.S.A. only)
The engine oil maintenance data should be reset. Perform the following procedures:
FIRST: Switch the display to the trip meter A (→P. 184) when the engine is
running.
Vehicles without a smart key system
Turn the engine switch off.
While pressing the trip meter reset button (→P. 184), turn the
engine switch to the “ON” position (do not start the engine because
reset mode will be canceled). Continue to press and hold the button
until the trip meter displays “000000”.
Vehicles with a smart key system
Turn the “ENGINE START STOP” switch off.
While pressing the trip meter reset button (→P. 184), turn the
“ENGINE START STOP” switch to the IGNITION ON mode (do not
start the engine because otherwise the reset mode will be canceled).
Continue to press and hold the button until the trip meter
displays “000000”.