That would be a good question
That would be a good question to review with your Toyota dealer, but here is my take; Having read the owner's manual section on the oil change interval, it would appear that the answer is "yes." Just like if you had a vehicle of any type that was not used often and were using the time-based interval rather than miles. Since there is a 5K interval for more challenging duty, it seems the 10K is for those who have a less challenging situation. After the 60K, 5-year warranty on the engine is up you would be on your own anyway, but I would do those first 6 oil changes for sure. Particularly since Toyota is not going to charge you for the first two. Great question.