Here is a forum post with a scan of the TSB from March 2006

5W20: This oil has been set as the Toyota genuine engine oil, starting in February 2006 for the US. Series: AZ, GR, JZ, MZ, NZ, RZ, UZ, VZ, 1ZZ-FE, 2TR-FE

0W20: This oil's initial application is in the 2006 model year 2AZ-FE engine and will be used in new engines to be developed. 2AZ-FE Camry, 2AZ-FE Solara, 2AZ-FE Highlander, 2AZ-FE Rav4 (ACA3#)