I maintain the wife's 2014 4R and my 2015 Tacoma along with a list of other vehicles.
Both the 4R and Tacoma have the Aisin A750E 2WD transmission. The 4WDs have an Aisin A750F. Transmission fluid change on either is the same. For the purposes of changing ATF fluid, the only difference between the E/F is the location of the fill plug. E on the right - F on the left.
Toyota provided a means for the home mech to easily change the ATF fluid in these transmissions. There are 2 writeups at tacomaworld.com on how to do a pan drain and refill and another that covers the flush. If I can locate them, I'll post them here.
People who possess limited skills have convinced themselves this is a dealer-only task. If you have common sense and can read, there's nothing to accomplishing either a pan drain/refill or a flush on these vehicles.
In many of the A750x transmission fluid change threads on the WEB, people mention refilling from below with a hand pump attached to the Toyota WS ATF 1 qt. bottles. That is a time-consuming pain in the ass as you will do this repeatedly for every qt. bottle you use. Refill from above(under the hood). A 6 ft. length of vinyl hose - 5/8 OD-1/2ID and a funnel attached to the fill end. The end that connects to the transmission fill plug will fit snugly. Install it correctly and there will be no worries of it falling out. Pic below of fill funnel and a homemade OBD pin 4/13 jumper. You can buy these "blanks" on ebay and then simply install your own jumper wire.
DRAIN/REFILL
How to Drain/Refill Automatic Transmission | Tacoma World
FLUSH
DIY: Full Flush for Automatic Transmission | Tacoma World
The fluid level setting procedure is also available in the FSM provided by nashman69G:
My Files
Either of these sections:
A750E/F - Automatic Transmission Fluid - Adjustment - you do not need the special tool mentioned to jumper OBD ports 4 and 13 - a small paper clip gets the job done.