Yep, that's exactly what I did about a year ago.
Transmission service 2011 Toyota RAV4 RAV 4 Install Remove Replace How to change - YouTube
Follow this video. but DO NOT start the engine and run through the gears! All you're doing is mixing the new oil with the old oil, pretty dumb if you ask me. Follow my advice below.
My 2007 Rav4 2.4L automatic had 184,500 kms, and I suspect the ATF WS trans fluid has never been changed or replaced.
We drained the fluid first, removed the trans sump pan & filter. Cleaned everything (+ the 3 magnets), fitted a new filter and gasket, and torqued the filter & pan bolts up (filter 84 in-lbs, pan 67 in-lbs). (Trans drain plug to 35 ft-lbs)
Because we removed 4.5 litres of trans fluid, we put 4.5 litres back. (BTW, this is really a two man job). We then disconnected the LOWER hose return line connected to the trans spigot (see pic), joined it to a piece of clear 10mm hose (about 1 m long), with a short piece of 3/8" copper tubing. A 9 litre bucket was placed under the clear hose.
We started the engine in N, and took out 3 litres. It was very dark. Turned off the motor, and replaced another 3 litres. I think we did this 4 times, and the new Toyota ATF WS oil in the trans is now clean bright red!
All up, it cost about $AU270, it made a big difference! It's shifts like new! I used genuine Toyota ATF WS oil. It was a comparable price with aftermarket oils!
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