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Pretty sure its Toyota ATF - Type T-IV you can call the Toyota dealer to make sure or check with Auto Parts stores. Don't go to the Lexus Stealership though lol
Hmm also question when I shift into drive there is a slight whine but it doesn't do it when I am in neutral. Only when sitting stationary... What could that be. Also when I go to shift from neutral to drive anyone else experience a jerking forward motion.
I would drain and fill it yourself first. It sounds like that is mostly your issue and its not going to harm your car. Mine Jerks a bit i think its just loud and clanky getting into gear, notice it more on an incline.
i put toyota t-iv in my 93, when i first got it it was slow and sluggish. ive done 2 drain and refills within 3000 miles, fluid was pretty brown on the first drain, i have felt a dramatic change in the way it shifts and drives now.