Well it sounds like a drain/fill helped it somewhat. But you know that was only about 1/4 of the fluid, still has 3/4 used in it. What was the color/condition of the fluid removed?
May want to do a full flush, it has helped many out of problems. Some will suggest you skip this for now and pull the trans pan to check out the window screen filter and the magnets looking for large/largish chunks of metal, its normal to have fine particles.
Many on here will want to know how many mile the trans has on it.
Any CELs posted or pending?
Let us know what you find. Luck and enjoy those Toyotas.
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2001 Limited 4WD - 346+K - SunfireRed\Thunder Cloud; - 265/75/16 Michelin A/T2s - Fat Pat's 1.5" BL - StopTech ANGLED rotors - In series 699 trans cooler, New Yota1 transmission, All new OEM suspension front to rear.