Yep Toyota calls for 5w30, stick with a name brand such as Castrol, Penzoil, Mobil, etc will do the trick. I've followed manufacturer recommendations for oil type, weight & change frequency and knock on wood I have never had an internal engine issue with any of my cars.
Avoid quick oil changers such as Mr. Lube & others like the plague. There's a recent thread here on an experience where a posters g/f was hosed by one. If you don't have a trusted mechanic to look after all your beastie's needs, find one.