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If its out of warranty take it to Toyota dealership and ask for a "drain and fill" Shouldn't cost much more than about 2x the price of an oil change... This drain and fill process only drains about 40% if the fluid since a large part of it remains in the torque converter. After about 3 drain and fills you have in essence replaced all the Transmission Fluid. I suggest transmission drain and fills be done every 30,000km at least. USE GENUINE TOYOTA TRANSMISSION FLUID type T-IV only......

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Q: How do you change the automatic transmission fluid in a 2004 Lexus RX 330?
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