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No special tools. The fluid is specified as Type - IV fluid, this fluid can be purchased in the aftermarket. Castrol has an import trans fluid specified for this type and also Mobil - 1 fluid is suitable for the Type IV fluid. My owners manual states fill for life if the vehicle use is "normal service" and every 60,000 miles if the car use is "severe service". I just did a drain and refill on mine about 30k with the regular castrol fluid and at 60k I will drop the pan and replace the filter and gasket and use synthetic Mobil - 1 trans fluid. I know my car is a Corolla but I think theses are good guide lines to go by. I called my buddy who works at a napa store and they have a trans fluid chart, according to his chart your car (4-cyl model) uses Type IV and the v6 model uses Toyota WS (World Standard) type fluid. Far as I know there is no aftermarket offering for the WS fluid, you have to go to the dealer. I would just double check your owner's manual or dealer for the fluid spec, sometimes there is a sticker on the dipstick which specifies the correct type of fluid.
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2005 Corolla LE - Impulse Red - Auto Trans - 1ZZFE - 86,000mi
2003 Echo - Auto Trans - 96,000mi. - slow as dog-dirt - I'd rather put my money in the bank than in the tank!!!!!
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