Measuring cups (if you want to try to use the method I used)
5 quarts of Toyota T-IV Rated transmission fluid
Drain plug crush washer from toyota
Toyota shop manual calls for 3.7 quarts of transmission fluid during a drain and fill ** (see note below)
drain plug bolt torqued to 36ft/lb
** While Toyota specs 3.7 quarts to be used for a drain and fill my van drained slightly over 4 quarts. This is why I used the measuring cup method to figure out exactly how much fluid came out of the vehicle so that I know exactly how much to put back in.