Thought I'd add my preferred method here...
I use the free Torque app on my Android phone along with any inexpensive OBD2 Bluetooth transceiver ($10-$15). The basic Torque app doesn't come with the Toyota specific code built in but you can buy the add-on
or you can enter the translation formulas yourself!
I searched online and found the calculations for the data I wanted and entered it as shown below:
On the Torque app go to Settings, then Manage extra PIDs/Sensors then use top right menu to choose Add Custom PID. On the next page you can enter the information for the PID you want to use.
The PID data used to be kept pretty close by the manufacturers but a lot of it can be found on-line if you search.
A great link for adding the Trans Fluid Temp PID to Torque is
here.
Good luck!