I have the same engine in my 2002 Sequoia Limited.
If you prefer oil change intervals in the 10,000-15,000 mile range I would say change over to Mobil 1 Extended Performance, Castrol Edge, Pennzoil Ultra, or Amsoil SSO with no less than an extended drain filter such as by Mobil, Fram Extended Guard, or Bosch Distance Plus.
I currently have Pennzoil Ultra 5w-30 in the engine with a Fram Extended Guard XG3614 filter. I prefer a yearly oil change which can range from 10-15k miles.
If you prefer oil change intervals in the 10,000-15,000 mile range I would say change over to Mobil 1 Extended Performance, Castrol Edge, Pennzoil Ultra, or Amsoil SSO with no less than an extended drain filter such as by Mobil, Fram Extended Guard, or Bosch Distance Plus.
I currently have Pennzoil Ultra 5w-30 in the engine with a Fram Extended Guard XG3614 filter. I prefer a yearly oil change which can range from 10-15k miles.