Hey Chris! - the 10psi per 1000rpm is an old pushrod oil pressure rule of thumb, and it's not bad but it's not 100% accurate to life these days.
For instance, the new Gen V Chevy's like the direct injected 6.2L L86 V8 found in the Escalade, GMC's, etc has regulated oil pressure that runs at a low pressure setting of about 40psi when 'low' and about 65psi when 'high'. In those engines, oil pressure does not vary with RPM it is switched electronically depending on engine load etc. But I've personally pumped over 1000whp through those engines and our only issue has been keeping up with fuel demand since the direct injection falls off very abruptly around 700whp. But I digress.
With your 3.4L, I'd drop a magnetic drain plug in it and see what you get when you change the oil next year. If there's a coating of stuff on the drain plug you'll be fine. If there's a glob of it, I'd be concerned and at that point @
Outlier is 100% right about dropping the pan to inspect it.
But so long as the 10w30 is making oil pressure within Toyota spec and there's no other issues, no weird noises and nothing otherwise concerning to you aside from oil pressure, I wouldn't sweat it or worry about changing oils just yet. The Mobil 1 5w40 Euro is fantastic stuff, though, and I would switch to that with 100% confidence if you felt like it. For oil filters, Napa Golds for that application are a really nicely made Wix oil filter that's almost always under $10.