My 3rd gen oil change is recommended at 7,500 and the 4th at 5,000. I am not sure of why they changed, but I think after Toyota had that sludge problem with 3.0 V6 they should lower it to 5,000. People who drove the mini-van thought 7,500 meant 7,500.
I started the thread on how often you should change and I wrote 7,500 as recommended by Toyota, I didn't realize Toyota changed their tune.