I have a 2003 Toyota Sienna with the 1MZFE motor and Asin 451E transmission.
Your 2000 GS300 has the A650E transmission.
My tranny calls for a fluid that meets Dexron III
I did the cooler line fluid exchange using Redline D4.
Redline lists the T-IV as an application for the D4, but you could ask them through their website if unsure.
I have read that folks have been very happy with D4 in the T-IV application.
I DID drop the pan, replace the internal filter, which has a nylon screen for a filter, and replaced the pan gasket.
Here is he first in a series of pictures that show the process.
http://rides.webshots.com/photo/2777272300011220610kWfEeM
I drained the pan, and also drained the "differential" which shares the SAME fluid and is filled when the transmission is filled.
I verified this by putting the drain plug in for the transmission, but leaving the plug for the differential out.....then adding fluid through the dip stick until I saw some new fluid run out the differential drain.
My Sienna is front wheel drive, not all wheel drive, but they still call that unit (Part of the transmission) a differential.
I would recommend that you drain the transmission using the drain plug, and.....if you have a separate drain plug for the differential, drain it also (newer units may not have this).
Verify that you are filling the differential by the same method that I did....just to be safe.
I measured the amount that I drained out and then replaced that with an equal amount of new fluid.
Then I removed the cooler line and directed it through a clear tube into a container, ran the motor at idle until the flow slowed or put out a lot of bubbles in the fluid......refill with the SAME amount of new fluid.....and repeated that process a couple of times.
Dropping the pan gives you a chance to clean the pan magnets and do a visual for any problems, such as large metal particles.
It also gave me a chance to replace the RTV sealant for the pan seal with a real gasket (rubber).
I also added a Magnefine filter to the cooler line that has fluid flowing FROM the cooler to the transmission.
I highly recommend this as it gives you filtration to a nominal particle size of 30 microns and provides a magnet for additional metal particle collection.
The Magnefine filter has a bypass that opens in the unlikely event that the filter media becomes clogged.
They recommend replacing the Magnefine filter once a year.