How do you change automatic transmission fluid on a 2002 Toyota Highlander?

To change the automatic Transmission Fluid on a 2002 Toyota Highlander, start by warming up the engine and then turn it off. Place a drain pan under the transmission pan, remove the pan bolts, and allow the old fluid to drain completely. Replace the transmission filter if applicable, clean the pan, and reinstall it with a new gasket. Finally, fill the transmission with new fluid through the dipstick tube, using the recommended type and amount, and check the level with the engine running.