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According to the Previa Owners Manual for 1992 the recommended differential lube is API GL-5 80W-90 weight or 80W (below 0 degrees F), in the Alltrac Transfer case API GL-5 75W-90, transmission takes Dexron II or up. I use III as it readily available and cheap to replace.

change the fluids every 30K or 2 years if in severe dusty areas or towing conditions half the miles 15K and annually. The manual states to inspect but I would do the auto tranny every 30k just to make sure it doesn't have problems as it gets older. My Previa has 177k miles and I have no issues with the auto transmission. The differentials I would keep a close eye on the gasket washer (if it becomes corroded it attacks the fluid. They are $2 at Toyota a cheap alternative to changing fluids if it is not affordable.

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Q: What weight oil goes in the 1992 Previa differential?
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