Here is my reply to another post on this board about changing the filter:
"On my 2.4L it was pull the drain plug, remove pan bolts and drop pan. Take the three filter bolts out and remove filter. Make sure "O" ring seal is on new filter and install filter with the three filter mounting/valve body bolts. Torque bolts to spec. Clean pan and magnets. Install pan gasket on pan with pan bolts and bolt pan to transmission. Torque pan bolts to spec.
The hard part for me was getting the fluid level correct. The transmission fluid is a low viscosity fluid that is hard to see on the dip stick when hot. I used Mag1 low viscosity full synthetic fluid that meets the WS standards. I think if I bead blast the end of the dip stick, it would be easier to see the oil level on it. Put the 3.5 qt of oil in it and you should be very close. The 2009 & 2010 4 and 5 speed AT all have the same torque spec for the filter and the pan bolts and is as follows:
Filter bolts - 11 N-m or 97 lb in
Pan - 8 N-m or 71 lb in
Note: "lb in" and NOT foot pounds.
Just keep it clean, use WS rated fluid, and use a good torque wench."
To find the right filter, count the number of bolts that hold the oil pan on and look at the shape of the pan flange. That will tell you if you have the right filter kit. In my 2009 2.4L 5 speed, I used a FK-347 kit. I think a Wix #58010 would have fit too.
If you are looking at WS fluid, you can check here for compatible fluids:
https://www.tacomaworld.com/threads/ver ... id.373083/