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Have you checked your owners manual for this information?
We can try to find the information you need but it's be much easier if we had engine size?
I found this info in an online auto tech magazine.
There are some important service-related changes about which you should be aware. For example, the five-speed automatic with the V6 uses a special automatic transmission fluid ("WS"-not compatible with Toyota IV or Dexron II). If you use one of the others, the vehicle may not move in very cold weather unless the motorist waits several minutes for the fluid to warm up. And there isn't even a dipstick. There are refill and overflow plugs, but you can't use them to check and adjust level after a drain, or the transmission will likely be severely underfilled. There's a multistep procedure that must be followed with fluid additions based on what work was done (dropping the oil pan, changing a valve body or torque converter)..