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The manual states 2.1 quarts - it is incorrect, badly. I carefully drained and measured the fluid from my 03 V6 4 Speed auto in a SR5 4Runner. It drained 3.6 quarts exactly and took 3.4 quarts to reach the hot/full mark when refilling. If you follow the manual's recommendations, you will shortly end up with a slipping transmission.

BTW, a drain and fill does not get anywhere near all the fluid out of the system as the torque converter and the rest of the hydraulics hold another 10-12 quarts of fluid. Only a complete fluid exchange by the dealer can completely flush the system. However, since it is a long life ATF (Toyota T-IV) with a 100,000 mile check only recommendation, doing the normal drain and fill every 30K miles will keep the fluid fresh throughout the life of the car. Should you ever set off the overheat indicator because of heavy towing in hilly areas, then it's time to have the dealer do a actual fluid exchange.

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Q: What is the transmission fluid capacity for a 2003 Toyota 4Runner?
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What is the Transmission fluid capacity of a 2004 Toyota 4Runner?

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