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I've done a drain & refill on two Toyota automatic transmissions, and both required that you fill through the transmission dipstick.
As for how much, either (1) measure how much came out and put that much back in (2) fill, check dipstick, repeat (3) figure out how much the capacity is, and ballpark about 60-70% of that (since a drain & refill doesn't drain everything).
Hope this helped!
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1996 Toyota Camry V6 LE (1MZ-FE A541E), gone, but not forgotten.
2006 Toyota 4-Runner SR5 V6
2011 Toyota Prius
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