Roxy, personally, I wouldn't take it to a Toyota dealer. My particular dealer here, where I bought my car, is pretty reliable, but in general I wouldn't trust most dealers. My guess is, you probably don't want to do it yourself, so its probably best to do a little extra work and find a shop that can do what you want. Here in Tempe, AZ, where I live, I found a local tire dealer (Purcells) which uses Mobil 1 for all their oil changes. Now, I do all my own changes, but if I WERE to have a shop do it, I'd take it there (I did have them do my wife's SUV there once). Most places will put in whatever oil you want, however, if you bring the oil with you. Also, don't let the shop put in whatever filter they have available, be sure to get a good quality filter (anything but FRAM!). You can swing by a Toyota dealer to get a filter too, no big deal. Always be sure to have a new filter put in with every oil change.
So call around and see what the local shops will do. Most tire and/or lube shops are a heck of a lot quicker compared to scheduling work at a dealership, with sometimes several days advance notice required.
Another important thing, wherever you have the oil changed, be sure to save and file the receipt, along with the receipts for the filter & oil. If you need to get warranty work done on your car sometime, its proof that you've been keeping it maintained. Read over your warranty info; they have something in there about saving receipts.
And hey, don't get stressed