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Although Toyota says it never needs changing, it is a simple process similar to changing the engine oil. The transmission pan has a drain plug which makes it easy. I recommend a drain and fill every 20k miles. You will notice a difference in the shifting and it will add miles of problem free miles to the transmission. Be sure to use the factory recommended fluid, not a universal fluid.

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Q: How often should I change transmission fluid on a Toyota Sienna?
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