Change transmission fluid 2005 Toyota Sienna?

1) 10mm Allen screw drain plug underneath the driver side

2) Drain oil (2-4 quarts)

3) Replace plug

4) Measure amount of tranmission oil captured

5) Pour same amount in (Toyota Type T-IV, available at dealership)

6) Start engine and shift through all gears.

7) Check level on dipstick

8) Recheck after 20 mile drive