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I believe most of the newer Toyotas don't have a dipstick but that's not to say it cannot be done by yourself. There is still a fill and drain port. The best method is to use a vacuum pump or fluid exchanger so you can measure out exactly how much you take out. But otherwise there are DIY procedures floating around here if you search hard enough. This is nothing new and BMW has been doing this since the early 2000's, I knew Toyota would eventually jump ship. Haven't done a Toyota yet but for BMW, to check you have to unscrew the fill port and if fluid comes out, it's full otherwise fill it until it barely comes out the fill port.
 
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