My local Toyota dealership charges $125 for a 5-quart oil and filter change. That probably seems outrageous to those of you who live elsewhere than California, but even Jiffy Lube charges $110 here, for a 5-quart oil change with full-synthetic oil ($90 for conventional oil). Doing it myself, I pay $5.50 for a Toyota N1 filter, and $26 for 5 quarts of oil (usually Mobil1 from WalMart), so $32 total. I use a Fumota oil drain valve, so I don't have to buy crush washers for the drain plug, saving 50¢ there.
I've always done my own oil changes at home, except once on a long cross-country road trip when I let a Jiffy Lube place in North Carolina change the oil in my truck. I'll let the Toyota dealer do the two free oil changes (10,000 and 20,000 miles) I'm entitled to, but that's all. The 5,000 and 15,000 mile free service is actually just a tire rotation and visual inspection, and I get my tires rotated for free at America's Tire anyway. And I don't agree with Toyota's 10,000 mile oil change intervals. On my 2019 Prius Prime, when it had 5,000 miles and I took it in for it's first free service, the oil was already a darker color than I'm comfortable with - not "black" yet, but the brown color of very dark toast. I changed the oil myself, since Toyota doesn't give you an oil change at 5,000 and 15,000 miles, and I plan to do the same on my R4P, as soon as I've run 110 gallons of gas through the ICE (110 gallons approximates 5,000 miles of running the ICE). On these PHEV cars, you can't use the odometer mileage for oil change intervals, since some percentage of the driving is done on external battery charge power, so on my Prius Prime, and now on the Rav4 Prime, I keep a log of all gasoline purchases, and 5,000 miles on the ICE = 85 gallons in a Prius Prime, 110 gallons on a Rav4 Prime.
The Rav4 Prime requires a change-out of the inverter/transaxle/battery coolant at 60,000 miles, and I'll probably let the dealer do that, because it's a complicated job and I heard that it requires a suction pump to pull the old coolant out of the battery. I changed the transmission oil in my 2019 Prius Prime myself, and it turned out to be a pretty easy job, so I expect to do it myself when my Rav hits 40K miles. The oily tool you need is a 10mm hex driver, and a funnel with 5 feet of 1/2" vinyl tubing to get the new oil in. NOTE: To do a transaxle oil change on any Toyota Hybrid, the car needs to be level, so if you use ramps to lift the front, you have to lift the back of the car by the same amount.