However, you will also notice that oil and filtyer changes are recommended every 5,000 miles if you tow, use a rooftop rack, make frequent short trips, extensively idle, or dirve in dusty conditions - in short anything that could be considered "severe" driving conditions.
In view of all that, I would suggest changing oil and filter every 5,000 miles just to be on the safe side.
A roof rack or short trips does not seem to have any significant impact on oil life in my experience. Towing, idling, etc needs to be a significant amount of the mileage before it comes into play.
I had my last two oil changes tested at Blackstone (
Test 1,
Test 2, and
VOA for comparison). The first change was I believe Toyota GMO (changed by the dealer before purchase). The second is Quaker State Ultimate Durability (VOA TBN of 8.5).
The first was at ~4600 miles, half winter idling, almost all real city driving, except for maybe 1000 miles of highway towing towards the end at 70mph with a 5k# trailer, all of which took 6 months to reach. The kind of driving that nets me 6.5 to 8 MPG all winter. Lots of oil additive still left (TBN of 2.9) and they said try for 6k miles next time.
Second change was about 2 months later after ~6300 miles, 3500+ of that was while towing the 5k# trailer at 70-75mph out to Yellowstone and back (in 4th gear) and a couple local camping trips, the rest was city driving, same as above. Oil additives still looked good (TBN 2.5) and Blackstone said to stretch it to 8k miles next time.
IMO if I was doing suburban and highway driving primarily and wasn't towing regularly I would go 10k miles without worrying. Modern synthetic oils are far superior to conventional 1970s dino oil. Toyota's 10k recommendation isn't so they can sell you a new engine at 150k miles - their engineers are confident you can drive 10k miles between oil changes without issue, and the oil tests that Blackstone did for me confirm it. Even towing and city driving like I do I'm convinced I can easily go up to 8k, though I will likely do mine every ~6 months or 6-7k miles as is convenient for me.
I'm not saying you can't change your oil more regularly, just that the data hasn't show me any significant beneficial reason to doing so.