Follow the Toyota guidelines in the owners Manuel.
My car ( not toyota)calls for oil changes every 7,500 miles.( for regular oil)
I run Mobil 1 synthetic.
I change oil every 7,000 miles.
The oil manufacturer says I can go 15,000 miles.
I follow the car manufacturer guidelines.
Taxi, Uber,dirt roads etc are all considered heavy duty operation by automobile manufacturer's.
I have purchased used cars with just 40,000 miles on them that I had to remove valve covers and scrape sludge out of the top end.
Looked like grease and dirt in there.
The car when sold ran like new with 160,000 miles. Wore out the door latch & ignition switch,motor ran great.