My wife's Honda Insight came with (obviously) Honda 0W-20 motor oil as the factory fill. I kept it in the engine until about 8100 miles, when the oil life indicator showed 15% "life" remaining. I changed to Mobil 1 0W-20, as that was the only non-dealer brand available locally, and the oil went 8700 miles before the 15% notification popped up. I then changed to Valvoline 0W-20 which has become available locally and which is slightly cheaper than the Mobil 1. I can't tell any difference whatsoever in the oils based on the car's performance or gas mileage, which typically is 47 or 48 mpg. I'll be interested to see when the oil life indicator comes on with the Valvoline.
Guess the point is that you can probably run just about any 0W-20, and for distances well beyond 5000 miles, and be just fine. If you don't have an oil life monitor in the Toyota, you might want to do a UOA just for peace of mind.