I had a 2007 3.0 4x4 auto Vigo...Same, same..
The handbook says only use Toyota ATF Type T-IV, and considering keeping a 16 year old auto trans sweet, I would let Toyota do it, I did...
The handbook capacity says...
Fluid capacity (drain and refill)
L (qt., Imp. qt. )
Up to 2.0 (2.1, 1.8.)
So around 2 lires, as you can never get it all out..
Don't forget the front axle oil, I used Mobil for that, which improved disengaging the 4x4 thingy..