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How about idiling the motor and draining from the tranny cooler return line from the radiator? Like take 2 quarts out and put 2 quarts... till clear ATF comes out...
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That's what i used to do with other cars that used cheapo dexron. The toyota fluid is pricey. If you change it every 30 or 40k you'd probably be ok. Better than ignoring it! Whenever i changed mine 2002 V6, it only takes about 3 or 4 quarts to refill. If you flushed it as you said, it would easily take 2 or 3 gallons.
Another important thing, to me...i would
NEVEr take my 2002 Cam to have it flushed at a shop (even the dealership). Why, because what is more likely: 1. The mechanic is going to want to do it right, and will refill his flushing machine with TIV fluid just for my car. or 2. He is just going to do the easiest thing, and flush it with the bulk, non-TIV universal ATF he gets from the filthy 50-gallon drum in the back of his shop?
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Tire Kingdom mechanic tells me the Valvoline ATF fluid is a Type T-IV and its fine for my Camry, but my Haynes manual says exactly Toyota ATF.
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I'd be interested to know who told him (mechanic) that information, and if it is true or not. Probably not. If anyone knows or has read something official about this (from Valvoline or something) please post it. But in the meantime, i'd continue to use only what Toyota says to use in the AT and not play lubrication engineer.