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Q:

Does my 4runner need to be hooked up to a special machine in order to change my on 2007 Toyota 4Runner

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
tranny fluid correctly? A local Toyota service dept. told me this. They said its the only way to do it right.
(1) Answer
Of course they did! Read what is written in the owners manual about servicing the trans. then decide if it still needs to be done! Have you had the fluid checked? Can do just a drain and refill. A drain, filter change and refill or do the machine thing. Your choice.