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I originally got this done along with the differential gear oil, which explains why the number 2 skid plate is already off. Otherwise, that would be your first step. It's a straight forward process and fairly simple.
All this time I thought it's like older Lexus, like my SC400, where you only replace it at 100k miles. I've owned the truck since 64k miles, and never replaced the ATF fluid. I found out that it's supposed to be a drain and refill at least every 30k.
I bought 12 quarts of Aisin ATF Type WS from Rock Auto. It is exactly what Toyota/Lexus sells, just rebranded and half the price. I also used a $7 Harbor Freight transfer pump.
Checking the ATF temperature also takes practice and patience to get right. Just keep trying if it doesn't activate the check temp mode, by the time you get it right it's already reached operating temperature.
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