Toyota 2014 Venza Owner's Manual page 490

6-1. Specifications
Lubrication system
Oil capacity
(Drain and refill 
*
reference )
1AR-FE engine
2GR-FE engine
*
: The engine oil capacity is a reference quantity to be used when changing the
engine oil. Warm up and turn off the engine, wait more than 5 minutes, and
check the oil level on the dipstick.
■
Engine oil selection
"Toyota Genuine Motor Oil" is used in your Toyota vehicle. Use
Toyota approved "Toyota Genuine Motor Oil" or equivalent to satisfy
the following grade and viscosity.
Oil grade: ILSAC GF-5 multigrade engine oil
490
VENZA_OM_OM73019U_(U)
Without filter: 4.2 qt. (4.0 L, 3.5 Imp.qt.)
With filter: 4.6 qt. (4.4 L, 3.9 Imp.qt.)
Without filter: 6.0 qt. (5.7 L, 5.0 Imp.qt.)
With filter: 6.4 qt. (6.1 L, 5.4 Imp.qt.)