here is what i've learned from Toyota Parts techie. he said that both coolant are similar, however they should NOT be mixed, because they have different salts (check labels) ... but i think no great harm would have been done in your case if it was only topping off.
worst case scenario, you should change coolant soon to a fresh fill. the tricky parts is to get it done correctly, as radiator holds only 1/2 of capacity (the rest sits in the engine block).
you can go with either one, but it's easier to do with RED coolant and distilled water if you plan flushing the system with only distilled water and doing the job through radiator only. the idea is to fill system with distilled water (flushing 2-3 times) and than drain only radiator and fill up with RED coolant, so after mixing in system it becomes a 50/50 mix.
here is how:
Coolant flush: Do you remove engine block drain plug?
but if you can easily drain system completely by flushing also engine block (2 plugs on V6) then you can go with PINK one (or flush system throug radiator a few times but using PINK coolant instead of distilled water.
Last option is bring car to dealer and ask for a complete cooling system flush (or complete drain plus fill up).