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I used what I had for the tranny - Toyota T IV or equivalent - just refreshed the fluid in the reservoir via multiple extraction refills over a several week period through the summer. Though mine is a 2005 so 2006 onwards may have different requirements for the fluid.
Plus 1,the Toyota Red Fluid works for the Power Steering too.
I was having a bhzzzz from the engine compartment....sounde like air bubbles in he power steering. Added 3-4 oz of Valvoline and the buzz went away. First tim in 100k that it has needed any.
Have a friend who lives in my complex with and SC430 and they use Mobil 1 ATF. Same as I used to use on my RX300. My CT does not require any fluid for power steering.