You can find automatic transmission fluid change instructions here;
http://www.4x4wire.com/toyota/mainte...tenancep4.html
It's listed near the bottom under Additional items for special operating conditions.
My 2004 owners manual and shop manual calls for ATF D-II or Dexron II, III in transmissions used with the 2.4 engine. I would think that would be the correct fluid for your truck. Note the instructions above for how much oil you may need.
Clifton
