Open the hood and look for the dipstick which has a hot and cold mark on it.
Your owners manual tells you the fluid type.......
Toyota Genuine ATF Type WS
1. CHECK FLUID LEVEL
Drive the vehicle so that the engine and transaxle are at normal operating temperature.
Fluid temperature: 70 to 80°C (158 to 176°F)
(a) Park the vehicle on a level surface and set theparking brake.
(b) With the engine idling and the brake pedal depressed, move the shift lever to all positions from P to L. Then return it to P.
(c) Pull out the dipstick and wipe it clean.
(d) Push it back fully into the pipe.
(e) Pull it out again and check that the fluid level is within the HOT range. If the fluid level is below the HOT range, add new fluid and recheck the fluid level. If the fluid level exceeds the HOT range, drain the fluid once, add proper amount of new fluid and recheck the fluid level.