I there is a $4 difference between Walmart or Toyota dealership, the dealership is the way to go. They are going to use a Toyota filter and you if there is a problem, a change at a dealership is probably the best record you have.
If you plan on changing oil yourself, you need to have some tools and buy things like a oil wrench, oil drain container, funnel for the oil and probably some ramps. I can change the oil in my 4Runner without ramps, but I use them cause I have them. You also have to store the old oil in containers and figure out how to dispose of it. Plus, you have to have some knowledge on how to work on cars. Of course you can learn, but expect the first oil change to be a big learning curve. For me, it is easier to change the oil myself since I have all the things I need in bulk. Of course changing the oil in January is never much fun.
Also, one option you may consider for rotating your tires is to go to a tire dealer. My Goodyear dealership that is near my work will change your tires for $42, BUT after the first change they will do it for free for life. For me it was easier to change tires at a place near my work and I can change every 5,000 miles and not worry about the cost. You may want to call around and see if some dealers, like Goodyear offer this kind of service deal. By the way my first set of tires were Firestone and not Goodyear. They did ask if I wanted a oil change or other work everytime I went in, so that might be their catch.