Verified answer

Dude, are you talking of a manual or automatic transmission?

The filler plug is at the rear right side of the automatic transmission housing.

The transmission oil is either Shell LA 2634 (if tranny has black plate) or Esso LT 71141 (if with a green plate). Both are long-life oil. Of course you can find cheaper equivalents but be careful about your choice.

The amount varies depending on what you are replenishing. If refilling only the trans sump then 5.5 to 6 liters would do. If including the torque converter then it can go up to 8.5 to 9 liters.

But these figures are just guides. The actual filling and bleeding procedure will dictate how much is needed. And I hope you know how to do it.

to no longer contradict Tom M's marvelous answer, yet Toyota does not propose fluid variations or flushes in typical provider. Your 2006 makes use of WS fluid, which Toyota calls "lifetime" fluid. Draining and filling isn't risky yet flushes are. while you're set on having it flushed, have the broker do it.