I think I grabbed this from [MENTION=135484]renau001[/MENTION] maintenance thread:
Replace automatic transmission fluid - inspect every 30k or 36 mo (severe: replace every 60k or 72 mo)
Torque specs:
Drain plug - 180 lb-in/15 lb-ft (14mm)
Overflow plug - 180 lb-in/15 lb-ft (5mm hex)
Fill plug - 27 lb-ft (24mm or 15/16")
Parts:
~4 qts (per drain) Toyota ATF WS fluid - Toyota part # 00289-ATFWS
Manual says 3.2 qts for a drain and fill, but on my other Toyota I've always gotten more than what the manual said and ~4 qts has been reported in the 4th gen forum
Drain plug gasket - Toyota part # 35178-30010
Overflow plug gasket - Toyota part # 35178-30010
Fill plug gasket - Toyota part # 90301-15004