Hi Steve,
I actually put almost 6 litres. I did replace the filter and did everything to make sure to get a good reading with the dip stick such as parking on level ground, warm engine or cool engine. But it still show a lot over the line. For the last couple of months the car is running very smooth and better fuel consumption, compared to the first i change oil which I only used 4.7 liters.
I did some research on club here and only see recommendations to use 4.7 litres for 2.4l engine not the 3.5l engine. The Toyota club net website say it should be 6.1 litres with filter. I think the dip stick is not accurate. For bigger engine it should need more oil than the 2.4l.