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Only use Toyota T-IV fluid which is expensive. Get it from either Toyota or Lexus dealers. Also get a drain plug washer.

If you drain the pan then you only actually change about 1/3 of the total fluid in the gearbox but this is the safest way. You could drain/refill/drive for 5 minutes and repeat two or three times to get more of the fluid replaced. Fill via the dipstick tube.

If you pull the dipstick look at the colour of the fluid, if it is nice and bright red there may not be any need to change it.

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