The newer version of the 1MZFE motor had a improved PCV valve and valve cover.
The old style PCV valve was a plastic unit that pressed into a grommet in the rear valve cover.
The new style PCV valve is a metal unit that screws into the rear valve cover (same location).
I have a 2003 Toyota Sienna, which is outside the "gelling" issue years with the same engine as your ES300
Personaly, I like to stick to the shorter Oil Change Interval.
One reason, as you experienced.....If I don't get to it right when it was due, I have a safety buffer built into my program.
How long it takes one to put the miles on is a factor.
If you are doing a lot of highway miles, not much short trip driving and you put a lot of miles on.....then you are less likely to develop sludge as long as you use a quality oil and filter....check the PCV valve to make sure that it does not become clogged, and othewise keep up on your routine maintenance.
I went with a longer oil filter.....exact same dimensions otherwise, same threads, same pressure bypass.
PLENTY of room for the longer filter.
The numbers are......
PL20195 4.74" long in place of PL10241 3.36" long
More recently, I have been using
Bosch Distance Plus D3422 in place of D3330
It is also made by Purolator but has a heavier can and more dirt holding capacity.
I like both filters.
The first oil changes, I used the WIX filter.
Here is a picture of the filter that was on the vehicle when I got it, vs the longer filter.