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There is an access panel inboard of the front right tire. It's oddly shaped but about 6in by 6in with two bolts holding it on. The filter is an "element only" type (Fram CH9972). The new filter (Fram did-don't know about others) has an excellent instruction sheet detailing how to drain the filter prior to removing it. You will need a 65mm oil filter wrench for the housing. It is actually very easy once you see what it takes to do the change.

Adding to this answer: I have a 2008 Highlander Hybrid Limited. V6 engine. I'm not sure what vehicle the above poster has, but I found my oil filter in a different place, just starboard of the car's center, coming off the engine block toward the hood latch. It's about four inches starboard (left as you face the vehicle). The filter is concealed by the exhaust manifold cover, but if you lean your head down by the battery and hit the filter with a flashlight, you can just see the top of it. Anyway, I had to wait for the manifold to cool off before I could safely get to the filter, about an hour. My Highlander had no filter cover, access door, and there was no way to approach the filter from below.

I also couldn't figure out how to remove it without a mess, so I stuffed the area below it, and the exhaust manifold, with rags, and they got SOAKED. It was only by dumb luck that I had left the pan to collect drained oil under the car, or else I would have had a stain on the garage floor.

Once I cleaned up the mess, getting the new filter on was pretty easy, but I did have to do it by feel.

Good luck! For the Limited Hybrid Highlander, it is easier to remove the plastic guard below the radiator to obtain access to the oil filter. This requires removing about 8 hex bolts and 2 plastic tension clasps. Now you will have all the accessibility you need for an easy removal and installation. For my 2008 Highlander Hybrid, (1) remove cool air intake duct seal -- 11 fasteners, (2) remove air cleaner cap sub-assembly (two screws and 4 clamps), (3) oil filter is below metal sheilds and oil canister is not visible, so you need to feel for it -- a oil drain path is provided when you loosen the oil canister.

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