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More Info on that ATF Change? I saw the pics of the ATF fluid but I only saw Brake Job on that slide show...
Fluid change is simple... get it on jack stands (make sure it is level). Pull the drain plug and measure the fluid that comes out. Typically 2.5qts. Install drain plug and refill the transmission through the fill plug on drivers side (mid way up the case.. will need a fluid pump). Only use Toyota WS atf.
I did this every oil change until I went through a full case of fluid. Last time I changed the fluid, it was as clean as it was going in.
To check fluid level once you fill it back up, there is a special sequence to bring up transmission temperature on the gauge display. You pull the fluid check bolt and fill it until it trickles out at the correct temp. If you replaced the fluid that came out, it should be very close. A little over full wont hurt anything.. and I do mean "A little".
I changed the wife's at 130k and it was black as coal but didn't smell burnt. The fluid retains all of the clutch material and such so don't panic if it looks nasty. From there on out after the full change, just change every 30k. Yeah.. the US manual says otherwise.. the manual in Japan states ~30k miles.