I don't think you can change the oil filter alone without having drained all the oil. Long story short, Toyota recommends their synthetic oil (5w-40) to be changed after 10,000 km. Though I change it after around 8000 km because at 10,000 km the oil was pretty dark and I was not happy with that and of course the other reason is oil filter, i don't know if the filter would really "filter" the oil up to 10 thousand kms or not :/.
However, Petromin,Toyota, Kia, Hyundai, all company workshops change their engine oils after 10,000 km here in Saudi Arabia. Rest is up to you, if you feel satisfied, do it, if you have doubts, then prevention is better than cure........