OK, it seems a lot of people either are missing this from their glove box or not aware of it.
This information (attached PDF) is not in the owner's manual.
It details the 5,000-mile and 7,500-mile interval schedules depending on how you use your vehicle. I find this of most interest regarding oil changes.
You can obtain this information on toyotaownersonline.com (plus recalls, safety campaigns, etc. pending on your specific VIN, plus any service history performed by Toyota dealers).
Free, quick registration, have your VIN handy.
Edit: You can also go here:
Mods, please sticky.
UPDATE: Note that another member donwloaded the 2002 version, and it no longer included the 7,500-mile interval. Since nothing else about the truck or oil changed, we (yes, "we" means you, too, so I am giving you no choice) can only assume that people found the 7,500 interval too difficult to follow. Math is hard. Nevertheless, the fact that Toyota specified 7,500 miles interval for non-severe duty oil changes all the way back to at least the 93 pickup (that was my last truck) indicates that synthetic oil intervals on 7,500 miles are a no-brainer for non-severe duty in terms of not being harmful to the engine.