How much did you drain out?
Which drive train?
Was this a drain and fill or did you drop the pan?
What's your owner's manual say?

 

There is a service manual procedure to check level. How much to add depends on how much you drain, whether you dropped the pan and changed the internal filter, etc.

Basically, need to check level with car level, transmission warm, and after shifting through gears a few times, then fluid level is checked with engine running. It will appear overfilled if you just dump fluid in and check cold without engine running and shifting through gears to distribute fluid in all passages and the filter.

Taken from the service manual:

HINT: Drive the vehicle so that the engine and transaxle are at normal operating temperature.

Fluid temperature: 70 - 80C (158 - 176F)

1. Park the vehicle on a level surface and set the parking brake.
2. With the engine idling and the brake pedal depressed, shift the shift lever into all positions from P to L position and return to P position.
3. Pull out the dipstick and wipe it clean.
4. Push it back fully into the pipe.
5. Pull it out and check that the fluid level is in the HOT position.

If there are leaks, it is necessary to repair or replace O-rings, FIPGs, oil seals, plugs or other parts

 

I did an ATF refresh this week by extracting the fluid out of the dipstick tube with my vacuum bottle extractor setup... Was able to pull out 4L of old ATF and replaced with the same amount. I do this every 2 years or 20k miles as it is easy and cheap insurance for protection of the transmission.

 

I initially did more frequent, low mile, 30k interval drain and fills. However, I came across a vid by TheCareCareNut and he mentioned that this frequent ATF fluid changes are not good. The debris, or something act as a buffer for the gears and is actually beneficial to have floating around. He recommended drain and fill every 50-60k. I use Toyota ATF.

 

UPDATE
I've drained it and refilled it to roughly 3.5 quarts and it's running smoothly. the level at hot temp seems to be correct. so it appears at least for me that the correct ATF level for the 2013 highlander with the v6 is 3.5 quarts not 4. 4 is too much.

As far as i know i would say the myth that you shouldn't change atf fluid is a joke, i would say drain and refill every 100k miles. mine is at 150k and i am sure it was never changed, there is no such thing as lifetime ATF fluid. it's fluid, that's lubricating moving gear parts. it experiences degredation over time. the manufactures just want your tranny to go out so you have to buy a new car. the shops want your tranny to go out because they get to sell you a new tranny. so yea, don't listen to anything they say. change the fluid.

 

2008 HL Limited V6 AWD, 203k miles. Second owner and chief grease slinger.

sky, I've been doing ATF changes on my own vehicles for several years now and can say from experience that the amount drained will vary pretty widely depending upon type of vehicle, make of transmission, type/age of ATF, transmission temperature, ambient temperature and interval from last run. That is, let the vehicle sit overnight and you will get more drained fluid vs. letting it sit just a few minutes.
Also, I have noted that if you pop the trans into reverse for a few seconds before shutting down, you will get more ATF drained. Maybe someone can tell me why this happens; I only know it does.
Just FYI, I just did a drain and fill on Tuesday on my HL. I got 4.5 quarts out. I replaced with 4.5 quarts and the level came to dead-nuts-on at hot level on the dipstick after a 20-minute drive.
All the best, Haya....

 

2008 HL Limited V6 AWD, 203k miles. Second owner and chief grease slinger.

sky, I've been doing ATF changes on my own vehicles for several years now and can say from experience that the amount drained will vary pretty widely depending upon type of vehicle, make of transmission, type/age of ATF, transmission temperature, ambient temperature and interval from last run. That is, let the vehicle sit overnight and you will get more drained fluid vs. letting it sit just a few minutes.
Also, I have noted that if you pop the trans into reverse for a few seconds before shutting down, you will get more ATF drained. Maybe someone can tell me why this happens; I only know it does.
Just FYI, I just did a drain and fill on Tuesday on my HL. I got 4.5 quarts out. I replaced with 4.5 quarts and the level came to dead-nuts-on at hot level on the dipstick after a 20-minute drive.
All the best, Haya....

Type of fluid are you using ?

 

i will say that i was surprised at how little it took to go from "low" to "full"... the distance between the low mark and full mark is a fraction of a Qt.

 

dont know about Haya but ive used Vavoline MaxLife in the HL and Castrol TransMax in the mazda. the mozda gets flogged on the daily and is still going strong over a year later.
the HL is shifting nice and smooth after a few weeks. (knock on wood).
both vehicles, i drained the ATF through the trans cooler return line and replaced all the fluid in one shot.

 

I have also been using the Vavoline MaxLife ATF fluid in my HL for 5 years when doing a simple drain and flush (getting out about 4 quarts each cycle). Tranny seems to love it, shifts beautifully and smooth.