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2006 4Runner transmission drain and fill

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I have. 2006 4Runner with 133k miles. Not sure if it’s ever had it’s transmission fluid changed out and wanted to do a drain and fill. I heard that you want the transmission to be within operating temperature when you remove the overfill bolt. What can I do in order to know that I am at the proper temperature or is there a scanner that you would recommend I use?

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Pat, just driving around for 20 minutes. It'll be warm enough then

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