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I've answered this question several times.

First talk to a Toyota Service manager. YOU WILL BE SUPRISED! the transmission is designed to go 100,000 miles and then it requires a special tool and procedure to change the oil for another 100,000 miles. If you drain it yourself it's almost a guarantee that you will be towing it into a dealer.

You noticed that there is NO transmission dipstick. There is a reason for that. Toyota doesn't want you fooling with the tranny.

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10y ago

What else can I help you with?