V6 does have it.
I did this to my dad's Lexus ES300, and it ran much quieter. I used M1 ATF.
I took the RF wheel off, and found a 17 mm plug for the fill, and a different plug (I don't remember the size) to drain.
At some year, Toyota decided to make the AT and final gear share oil. I think it was 2001 or 2002.