I used the jumper technique - ports 4/13 in Data Link Connector 3(DLC3) jumpered with a small paper clip. The ports in DLC3 are very small. I found it difficult to jumper with a wire - even small gauge. In my opinion a small paper clip is easier to use.
Something you may not see in many places, but is good to know deals with what happens when the DLC3 pins are properly jumpered and the engine started. You'll see all kinds of dash warning lights blinking. If you don't experience this using the jumper technique, the DLC3 ports are not jumpered correctly. I've noticed a lot of complaints at the tacomaworld.com forum about people not being able to get the vehicle into temp check mode using the jumper wire technique. I could be wrong, but I'd bet some of them did not have the jumper set properly.
Documentation I've seen for 5th Gen 4Runners says the D indicator light in the dash cluster will blink for 2 secs. to indicate transmission has entered temp check mode. You can review all of this in the 2nd post of the following thread - jeremy556 posted the information. My experience was a little different.
http://www.toyota-4runner.org/5th-gen-t4rs/186930-transmission-temp-check-mode.html
In my case the blink happened so fast I barely caught it. 2 secs. is not a long time, but what I experienced was less than 2 secs. My eyes were fixed on this area. I've noticed a true 2 sec. blink in a 2nd Gen Tacoma with the A750E tranmission. The A/T Temp Oil light is used for that vehicle vs. the D indicator light as mentioned above.
I started out with a stone cold engine. The transmission was placed in P after entering temp check mode and the jumper wire was removed. A tech at tacomaworld.com said it was VERY important to remove the jumper wire after entering temp check mode using the jumper wire technique. I noticed that the P indicator light was not to be seen in the dash cluster? The field where the P is normally displayed was blank - a solid grayish color was displayed? About 8 mins. later the D indicator light came on. The fluid temp was now at the low range for the vehicle. I removed the overfill plug.
The transmission was intentionally overfilled a bit before starting this procedure. I drained until there was a steady stream(some call it a trickle) coming out.
A new gasket was used on the transmission pan drain plug and the overfill plug. Both are the same part number. I also used a new gasket on the plug up above where the transmission is refilled. Part numbers for all of these are in the sticky area.