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When to change oil on 2013 Toyota venza?

According to the 2013 Toyota Venza Owner's Manual, the engine oil and oil filter should be changed every 5,000 miles or 6 months, whichever comes first.

For severe driving conditions, such as frequent short trips, towing, or driving in dusty or muddy conditions, the oil and filter should be changed every 3,000 miles or 3 months, whichever comes first.

It is also recommended to have the oil level checked at every fuel fill-up, and to add oil as needed to maintain the proper level.