I just changed the filter and fluid on the tranny of my family's previa. It takes Dexron fluid. Capacity is ~2.2 quarts for a drain and fill, and more with a pan drop.
Chevron Dexron ATF is an excellent atf for this vehicle; i've had great results with it.
For the rear differential, I used Mobil 1 75W90 syntehtic gear lube. Works great. Capacity is 1.6 quarts I believe. Take off the fill plug before taking off the drain plug. Also, taking out the spare tire under there will give you some mor room. Make sure to drain the rear diff when its warm as well as the transmission.
Be careful when tightening the drain bolt on the tran pan, it doesn't go on with much torque so overtightening it will strip the dran plug, they are $5 or more at the dealer. The filter is a hassle to change, its just a screen and when I changed mine with 30k on it, it was not clogged at all. From now on I'll just do regular drain and refills.