That's the way I've been doing it on my '01 4Runner for nearly 70,000 miles - no problem.
It always amuses me how many answers will appear regarding the oil capacity of the 3.4. My manual clearly states 5.5 U.S. quarts - with a filter change. I believe three different values are listed - make sure you are reading the U.S. quart figure.

Andreas

2001 4Runner SR5 4WD, Dorado Gold, 303,000+ miles
2014 Audi A4, Monsoon Gray
1995 Porsche 993, Polar Silver