The newer Toyotas use genuine Toyota ATF T-IV Transmission Fluid. Good preventive maintenance recommends at least draining every 25,000 to 30,000 miles and if Doing It Yourself you need an 10mm hex set adapter to remove ATF plug on bottom in the center of the ATF pan, as well as 4 or 5 quarts of ATF. Then measure the amount drained as you empty/pour contents into plastoc galllon recycle job and then add through skinny funnel stuck in ATF dipstick holder. Look at dipstick and don't overfill as that too is bad...
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