Ah yes, the UB80E/F transmission. Rav4, Camry, Chevrolet/Cadillac-AWF8F45 BMW-GA8F22AW. Also used in the start of 2013 Lexus RX350 sport and some Volvo models.
This one is easy to service with the know how, it is a time consuming process. I've pieced up this instructional bit for the diy. Requires a scan tool to read TCM temperature, when you get in the habit of servicing these transmissions, usually I can go by the feeling of the transmission case itself. It would be warm/hot but not enough to should scold you.
Let's get in...
1.) Jack the vehicle, place on 4 jack stands with the vehicle level. If you have shop access, even better!
2.) locate the plastic fasteners holding the underbelly of the undercarriage, remove the 10mm fasteners at the front-bottom of the fascia, you'll see a few more that attach to the fender liners.
3.) Remove the driver side wheel for easier access
4.) Undo the small plastic fender cover above the fill plug (should be a plastic fastener, with 2-10mm bolts)
5.) Loosen the fill plug (it should say WS) - 24mm
6.) Remove drain plug -24mm
7.) Remove green fluid level tube, be careful not to strip it or force it(8mm hex)
8.) Let old fluid drain
9.)Typically, 3.5-3.75 US quarts drain.
10.) Re-install drain plug (leave level tube out)
11.) Grab long flex funnel
12.) Fill with 1 gallon (it's okay to go a little over, you'll understand why, bare with me)
13.) Shift through each of the gears with the gear shift with foot on brake pedal firmly. P-R-N-D-M, M1,2,3,4(shift through the panel gears on the steering wheel) M-D-N-R-P promptly with a brief pause
14.) Shut the car off and wait 15 minutes
15.)Pull lineset from the cooler located rear most behind the fender, mark the line with a strike out or paint pen, masking tape or colored electrical tape will suffice to note direction of flow.
16.) Attach clear hose from the output side of cooler to drain into acontainer or drain into bucket
17.) Start the car up, let the contents drain, before fluid flow slows or comes to a dribble, shut it down. (Approx 60 seconds)
18.) Add another 1 gallon through the fill port
19.) Repeat step 17. Start the vehicle to repeat drain process.
20.) Shut the vehicle down.
21.) Remove the drain plug, not much should come out.
22.) Add the fluid level tube
23.) Reinstall drain plug
24.) Add approx 3.5 quarts
26.) Let the car warm to 104-116°F, remove drain plug- removal of the fill tube is not required.
27.) A 8Oz/pint should come out, no more no less a slow and steady flow should appear, if no flow appears, add a pint.
It'll take approx 4 gallons or 12 quarts.
I don't recommend a flush additive at this time.
To extend the service life you can add a magnefine transmission filter, 3/8th's size, you'll need extra tubing and clamps. You can also opt to locate this filter in a much convenient location to replace it or to make servicing easier. Magnefine will filter down to 25 microns with an absolute of 3 microns (Amazon spec)
The common fluid options fluctuates regarding on what the fleet hosts requests and desires for long term.
Amsoil fuel efficient SS ATF is my top choice($180 for the 2.5Gal jug), if budget conscious, maxlife can be had at $22 a gallon at Walmart, or MAG1 915 at $4.15/qt or Supertech--DexronVI/Mercon LV at $7.68 in today's prices
AC Delco DexronVI can be had for $26/gal.
Citgo multi vehicle low viscosity transmission fluid for $7.00/qt
Shell multi vehicle low viscosity synthetic ATF $5.99
If you plan on sticking with the plain Toyota WS, you can find it at the local dealership as low as 7-9/qt. Shop around if possible.
Certain autozone locations will allow you to rent a transmission flush machine with a $500 refundable deposit. Taxi fleets with Camry vehicles typically go the route of the flush machine due to the nature of time savings. Flushes are typically a touchy subject, however; with any tool requires great knowledge of how to utilize them.