What has not been mentioned here is how hard these engines are on oil filters. It's worth noting.
Take a look at where it is and you see why. I run Mobil 1 10w-30 for 7.5k OCI with great results. 280k and it runs like new, only engine work was new OCV's about 40k ago. 12 ozs of oil use every 7.5k, that has changed little over the last 200k miles.
The thing isto listen to the start up carefully and change filters when I you hear dry starts. Wix, Motorcraft, etc., - nothing would last. They were getting cooked there perfectly positioned between the 2nd bank header and the cat. The filter is just smoked every drive. I am now running a Fram Ultra and it is still working well at 11k miles (left it in at the last OCI). Listen to the engine and it will tell you what you need to know.
I heartily 2nd the opinion on ATF to go with Transmax IMV; I have better results with that than Maxlife. If you can get it, get the Castrol HM. Slightly thicker, better add pac, and good on these older DexIII based transmissions at this age/mileage. Maxlife is too thin (as would also be any Dex VI) for these, they are not programmed for it nor is their TCC designed for the PWM techniques the later years/transmissions employed. Def. go with the IMV or HM Castrol or similar.
Also, unless you are buying non-ethanol gas, consider an UCL in each tank. I use 3ozs/10gallons of MMO each tank and the car loves it. Works out to an added $.05/gallon (I buy it in quarts at Walmart) and it more than pays for itself in performance and added mpgs.
Toyotanation.com and Clublexus.com have knowledgeable forums that can help take these engines and cars to 1/2 million miles or more.