Six months or 5,000 miles, whichever comes first. Oil is cheap compared to engine repairs.
If you’re using synthetic oil, 10,000 miles is fine. I used synthetic in all my Toyotas after 36,000 miles and only changed it once a year with no issues.
A quick oil change place told me every 15,000 miles, but I usually do mine somewhere between 5,000 and 10,000 miles.