0w20 sounds right. Which if I am not mistaken means synthetic, more or less. But PO might have run 5w30. Who knows. Find a good 0w20 and run it. Myself, I use TGMO, dealer has comparable price to Mobil from Walmart.
For my truck oil was due at 83k but I changed it at 80k, as I wanted to get it back to "fives": rotation every 5k, oil every 10k, etc. I am OCD like that. I do not know what the maintance minder is like on the Venza, but on mine it is a fixed 5k interval.
You might want to read up on the atf before it surprises you. Do you believe it is lifetime? Will you change it with non oem, or stick with WS?
Being just front wheel drive means you do not have to worry as much about mismatched tires as on an AWD. So that is a plus.