The light should be on in every 5,000 miles for your car no matter what engine oil you use in the oil change. And the engine oil for your car is supposed to be replaced in 5,000 miles. Only some 2010 and newer Toyota models are schedualed to have oil change in every 10,000 miles.
The oil used at dealer is not necessarily better than independent shops. Toyota does not produce engine oil. Dealers buy oil from oil companies, and so as the smaller shops.
