I cant give an estimate, but if you know any other mechanics, get a few quotes, especially if they say it's free. I would ask how much a tranny rebuild would cost. The axle seals aren't really even the issue, unless they're leaking so bad that your fluid level is low. you get me? That's like if your compression was bad and they tell you your oil pan is leaking.....worthless. I mean heck if they pull your tranny, you're basically stuck with them. Theyre gonna say well such and such is wrong and it's gonna cost.....said amount as your tranny sits on the floor all apart. So take it to someone you trust. Shop around for a transmission rebuild, but don't necessarily go for the cheapest, use some common sense, but remember use as many resources as you can. Coming here is one of them, good move
edit; Maybe not shop for a rebuild only, if you can get a diagnostic check for cheap or free from other places do it. You might in fact have the best luck at a toyota dealership. Tell them you just want to know what is wrong but dont do anything unless I give the ok. That way you get the best people to find the problem and then shop around for the best price to fix the problem.