Blue smoke is traditionally a symptom of a head gasket going out. Oil burning generally won't release that much smoke since it doesn't burn in large quantities. I'd be surprised if it actually was a head gasket given that it's a 5 year old toyota, but depending on whether it was ever overheated or had the coolant serviced, it is possible. You didn't give the miles but I have a 2012 XLE with the V6 at 125k and no such issues. Can get a block leak tester on amazon for cheap to diagnose if that is the issue.

 

I just passed 91k. I changed the oil few days ago (It was changed after 6k miles on 0W-20 oil). It was a cold start up too so I'm puzzled at what it could be. It's no longer smoking whenever I turn the car on. Currently, I have no explanation or idea what it could be.

 

Doubt it's a HG since that will usally create white smoke. Could be a simple as a valve seal leaking some oil into a cylinder. Compression test could give some insight into either or...

 

I wonder if the EVAP system had accumulated fuel from over-filling the gas tank(?).

 

A little update. Since then, there hasn't been any blue smoke during start up until now. Very odd.
I'm now at 116k miles. I started up my car this morning, no smoke but when I went out for lunch 4 hours later, good amount of blue smoke puffed out but cleared up after a few seconds.

When I revved it, a few more puffs came out with the distinct burned oil smell but went back to the normal "rich" fumes smell after a cold start up.

Car runs fine. No loss of power, no shuddering. Smooth power band, no warning lights. I don't think the valve seals are leaking, nor do I think it's the head gaskets. I'm suspecting it's the rocker cover (valve cover gasket) due to caked up old oil and dirt?

 

Try changing the PCV valve. The 6 cylinder valve is easy to change as it is under the engine cover.

 

I seem to recall reading about some location along the pcv system's path where oil can accumulate/puddle, maybe in part of the intake manifold?