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It depends on what kind of CVT is it. If it is the belt and pulley type CVT that VW and Nissan uses, DO NOT USE ANYTHING OTHER THAN OEM FLUID. They contain a crystaline structure additives that when under stress, will bite into the metal for additional friction. Failure to use this kind of fluid will cause the belt to slip and kill the transmission in extreme cases. You may be able to get by with regular Dexron type ATF, but I wouldn't run it day to day.
Toyota's CVT in their hybrid uses gears and 2 electric motor to adjust gear ratio, there are no belts or clutches. I would imagine it can run almost anything in the right viscosity and additive types. Not sure about their minivan's CVT, so you should check if they are the right type.