Did a complete fluid change with Idemitsu ATF Type TLS-LV (WS) I got from amazon for my 2013 highlander. Tried other fluids but this one by far is the best shifting one so far. Only $32 for 5 quart on amazon and its fully synthetic. FYI
Idemitsu 30040096-95300C020 ATF Type TLS-LV (WS) Automatic Transmission Fluid for Toyota/Lexus/Scion-5 Quart
Idemitsu 30040096-95300C020 ATF Type TLS-LV (WS) Automatic Transmission Fluid for Toyota/Lexus/Scion-5 Quart