It might be worth it to you to do an engine oil life analysis. I have no affiliation to this site, it was just the first page that popped up on Google so you can shop around and see what others cost to do the same service. Basically you're just looking for something that will take your used oil and give you a reply that says "That oil had 30% life remaining on it".
http://www.blackstone-labs.com/I certainly wouldn't change full synthetic every year if you're only driving 3500 miles.
I go by mileage in my cars and I go to 5000 miles between changes on conventional oil in my car and 10,000 miles on synthetic in my wife's which usually puts my changes at every 6 months or so for mine and every year for hers. Yes...we drive a lot.
Waiting for 10,000 miles for you would be closer to 3 years though, which might be a bit long. Are you driving the car regularly just not often (by this I mean, it isn't sitting for the entire summer is it?) and are the trips long enough to get the car up to operating temps? If so, I would probably aim at changing every 2 years or 10,000 miles personally.
Edit: I also wouldn't let Jiffy Lube or any other quick change place touch my cars with a 10 foot pole.