My book says 5.3 quarts in my 2001. It takes a bit more than that when I change the oil. I have put as little as 5.6 quarts and as much as 6.2 quarts. I tend to fill up slightly under the full mark and notice it goes up a bit when the engine is warm. The time I put over 6 quarts it was full when the engine was cold.
A good rule of thumb is that it takes about 6 quarts. I tend to put slightly under that and check it and adjust accordingly.