What oil is recommended for 2007 5.7L Toyota auto transmission?

The oil filter is under the engine. You have to remove the skid plate to get to it. You will also need a special tool to remove the filter. It's available from SNAP-ON. The filter is a paper filter and if you do it wrong it WILL leak oil. Best yet I suggest you talk to a Toyota service manager first before you attempt to change the oil. It is much cheaper to let Toyota do it. The engine oil is 0 to 20 viscosity NOT 30 weight. Buy it from Toyota

Also There is no Transmission dip stick before you go looking for it. The Transmission is designed to go 100.000 miles before the first oil change. AND MUST BE DONE BY A DEALER. If you drain the transmission you WILL be towing it to a dealer to get it serviced.

No kidding.