ATF transmission fluid change highlander Type IV

My 2002 Highlander has about 90,000 miles on it. In looking through the official maintenance schedule, I don't see any recomended changing schedule for the ATF automatic transmission fluid. In fact, my official factory service manuals don't even have a section dedicated to just changing the fluid and filter. However, I think it is a good preventative task and I have ordered the filter / gasket kit from O'Reilly's.

1. Has anyone ever seen any official recomended mileage schedule for changing the ATF fluid in a highlander?

2. My official factory service manuals list Type IV fluid, and all of the on line research I have done stresses that you must use Type IV. Apparently this is only avaialble at Toyota dealerships - has anyone ever found a type IV other than Toyota brand?

3. Has anyone ever changed the ATF fluid in a highlander, (using drain plug and removing the pan) and if so how many quarts did it take?

I just changed my friend's Highlander transmission fluid and we used the Toyota Type IV. I have never seen anyone outside of Toyota making Type IV. The price was $4/qt. which isn't much more than if you were to get Dexron (not recommended) fluid.

The Highlander (same engine as Lexus RX330) does not have a transmission filter that needs changing. There is a mesh filter inside, but it doesn't require changing. Although the manual does not have a recommended change interval, I personally wouldn't go more than 60K between changes. It's cheap and fairly easy to do.

1. remove the drain plug and drain the fluid. The plug removes straight from using a 3/4" ratchet wrench. You don't need a socket.

2. reinstall the plug and fill the fluid (check the proper amount because it's different for AWD or FWD, AWD used 4.8 qts.) The fill is from the dipstick. There is no fill port (atleast that I could find).

Good luck...