First thing to do is look at the bottom portion of the transmission dipstick. It should specify what fluid to use. If it doesn't you may be guided by what I have written below.
If your transmission is an A340E which is a 4-speed, then you will need Dexron 2. Since Dexron 2 is no longer currently manufactured, you can safely use Dexron 6 which is the current ATF specification.
If your tranny is an A341E which can still be a 4 or 5-speed automatic, then you will need to use T-IV transmission fluid. Preferably Toyota's own brand. The 4-speed A341E differs from the A340E in that it has a "manu-matic" function that allows you to drive it like a stick shift you by moving the shifter to the right and shifting up or down. By the way, if the dipstick indicates you use T-II, you can use T-IV. Hope this helps
If you are just going to drain the ATF from the oil pan, 3-4 quarts will be enough. Just make sure you DO NOT overfill. This will kill your seals in short order.
Last edited by rexst; 04-08-14 at 12:58 AM.
Reason: added info