Just asked the Chrysler Service Manager here at the dealership where I do the webpage. He said the system monitors the type of driving you do (stop&go, short vs long trips, cold starts, etc) and the light can go on anywhere from 3K miles all the way up to the max of 10K miles. Chrysler actually states that under optimum conditions (re: steady highway), the max oil change interval on that vehicle is 10K. So, to answer your question, kind of, yes you can wait for the light.
Would I?? Probably not, especially the first oil change. As clean as modern engines run, plus the improved oil, I think with mostly highway driving you would be fine with 5K oil changes. Just my opinion.
I know everyone has their own opinion about oil and oil changes, so there may be some that go towards the extreme of 3K oil changes regardless of the driving conditions and some that say "follow the light on the dash" and go up to 10K. I think 5K is a good middle ground. YMMV