If its under warranty, and you would like to keep it under warranty, then you have no option other than to get everything done from Toyota 3S dealership only!
Otherwise, for after market options, following is recommended:
Total Quartz 9000 Future Series 5w-30 only!
4.2L, with engine oil filter change.
5w-30, prefer fully synthetic, from some reputed brand, meeting latest API SN / SN Plus, and / or ILSAC GF-5 criteria. Of course, oil must be 100% genuine and original in all cases.