4Runner ATF change?

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I have a 2006 Toyota 4Runner with 82K on the clock and according to the manual there is no need to change the trans fluid?? The dealer said I should have done it at 60K and ignore the manual? so with 82K on the clock do I change it now or let it go? I do tow with it and I added a quite large trans cooler.

By the way the steelership wants $210.00 to change it this sounds high to me? Could I do it myself with some ramps?
 
Change it. Do it yourself. Yes, you can drain about half with just some ramps, and refill through the dipstick which I assume yours still has. This will take about 4 quarts, and you'll want to do this 2 or 3 times. You can get the ATF, not sure if you need T-IV or WS, from the dealership 4~6 bucks a quart.
 
There is no dipstick on these "sealed" transmissions. Here are a couple of tutorials showing a drain and refill and a full flush on a Tacoma truck. Use the same procedure for your 4 runner. You want to use the Toyota WS fluid, or the equivalent aftermarket product. Many are using Red Line D6 or Amsoil ATL for this.

http://www.tacomaworld.com/forum/2nd-gen-tacomas/63851-how-drain-refill-automatic-transmission.html

http://www.tacomaworld.com/forum/2nd-gen-tacomas/68462-diy-full-flush-automatic-transmission.html
 
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