First, get the owners manual if you have it and read what it says in the service section towards the back.
Second, call your local Toyota service department and find out from them what they recommend. Many Japanese auto trannies use Dexron fluid. Dexron is a GM-spec transmission fluid and has undergone many variations over the years. The current version is Dexron VI. All newer versions of Dexron are supposed to be backwardly compatible with previous versions ...but there are exceptions ...and primarily applies to GM-made transmissions.
Third, your Toyota may *require* Dexron II (which was obsolete even in '02 if I am not mistaken) and this is simply a way to force buyers to purchase transmission fluid from the dealership as no one markets Dexron II spec fluid (except Toyota).
If all you need is a little top off, then I would simply get the stuff from Toyota ...one bottle isn't going to break the bank even if it cost ten bucks ....at least you are using the correct stuff. On the other hand, given that there is something in the range of six or more quarts of fluid in the tranny, the small amount of top-off fluid should not cause any problems.
en.wikipedia.org