There are 2 simple rules you can follow:
First: Rule of Gearbox screw. Just use the fluid type similar to the label on the screw
Second: Rule of engine model. Refer to Engine type mentioned in the sticker at the front passenger door.
- 2AZ-FE; use Toyota CVT TC
- 2GR-FE (both 2WD and 4WD); use Toyota ATF WS