My 2011 Toyota highlander takes 6 quarts
according to the user manual. So, I add 5.5 quarts first. Then I add a little by a little and check oil level. This only happened the very first time. After that, I just add exact amount. It has been more than 10 years now. I had no issues. You may want to check oil regularly in case your engine burns oil.
Best regards,
Alex