Originally Posted by BMW7_LS430

Fig 3 shows fill plug.
Fig 1 shows how to get to the fill plug by removing the cover (2 bolts)
Fig 2 shows pan with drain and overfill plugs.

Originally Posted by writes123

There is a filter. Metal One.

3533050020 maintenance & lubrication, transmission, transmission parts, filter
3516860010 Transmission Transmission components Trans pan Gasket 3.0 li

costs around $50

plus you'll want to replace the gasket if you do a pain and filter drop.

drain and fill
drop pan and replace filter and gasket
"flush" via engaging torque converter and transmission cooler line method.

those are the three general methods to replace the transmission fluid.
a std drain and fill uses around 3.4 quarts. dropping the pan gets a little more out.

Takes 11.5 quarts for a complete fluid exchange.

Toyota WS fluid per quart costs at least $7 per quart. If you can find a discount from a local Toyota dealer.