If you check page 301 of your owner's manual you'll discover:
Oil grade:
API grade SL "Energy- Conserving" or
ILSAC multigrade engine oil
Recommended viscosity:
SAE 5W- 30
Outside temperature
SAE 5W- 30 is the best choice for good
fuel economy and good starting in cold
weather.
If SAE 5W- 30 is not available, SAE
10W- 30 may be used. However, it
should be replaced with SAE 5W- 30 at
the next oil change
Not mentioned by the manual is whether standard old dino oil (pumped from the ground) or synthetic (manmade) oils are recommended. The answer depends a lot on the type driving you do and the depth of your bank account. Lots of around town driving, your engine will benefit in a big way from synthetic. Mostly highway use you may see a small mpg increase with synthetic.
Cheers
Genuine Toyota ATF T-IV, which is fully synthetic
dexron III
Disk brakes at all four wheels. The rear disk has an area in the center where shoes for the parking brake fit. Cheers
The 2006 Toyota 4Runner has double overhead cam (DOHC).
The 2006 Toyota Sienna has double overhead cam (DOHC).
The 2006 Toyota Highlander has double overhead cam (DOHC).
The 2006 Toyota Matrix has double overhead cam (DOHC).
The 2006 Toyota RAV4 has double overhead cam (DOHC).
The 2006 Toyota Prius has double overhead cam (DOHC).
The 2006 Toyota Corolla has double overhead cam (DOHC).
The 2006 Toyota Tundra has double overhead cam (DOHC).
The 2006 Toyota Camry has double overhead cam (DOHC).