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I had the same issue. Different transmissions require different procedures.
For the 2001 to 2003 LS 430 only:
Drive the car until the transmission fluid is at least normal operating temperature. Pull the dipstick. Clean it and re-insert. Remove and check the level. There is a range on the dipstick. Use the range. I choose to keep it at the high end,
Do it in park on level ground and the motor running at idle.
You do it with the motor running because a lot of ATF is in the lines to and from the cooler, plus other locations. If you check it cold and not running, you'll see it is way past full.
Haha, yeah my 2011 camry is lacking a dipstick. After much research I'm not changing the ATF since it has a lifetime powertrain warranty and Toyota recommends not touching it.