I've done a D+F on my 08 Camry V6 at 30k. Primarily because i just wanted to see what the fluid condition was to judge when i should do it next. I was actually surprised as to how clean the fluid looked at 30k. Pan magnets had very minimal debris adhered to them. Procedure is as below:
-Fill plug is located outboard side of tranny in drivers wheel well.
-No drain Plug on this tranny, you will need to drop the pan to drain fluid in Pan.
-overflow plug is located on bottom of tranny and requires a 6mm socketed hex.
-pan held in place by about 18 10mm bolts.
-open overflow plug, allow to drain. insert 6mm socketed hex into overflow hole where you will see a pink plastic tube.
-unscrew tube as this will drain majority of fluid from pan and is used to refill to correct fluid level.
-drop pan, clean magnets, install NEW gasket, $13 from stealer, may have to special order...
-i found no replaceable filter
-replace pink plastic tube into pan, replace pan, leave overflow plug out.
-use method of your choice to add fluid through fill hole until it flows out of overflow plug. funnel and 4ft length of plastic tubing worked well for me.
-start engine and add fluid until it once again overflows out of plug.
-allow engine to idle approx 10 min or so until tranny is within normal operating temp ( fluid temp 104-112 degree F ). Move gear selector through entire gear range and back to park.
-with engine still idling add fluid once again until it overflows out of overflow plug. When flow slows to a trickle, reinstall overflow plug.
-Latest TSB from Toyota states to add additional 200ml fluid once overflow plug has been reinstalled.
-Install fill plug. Check for leaks. Done.
I ended up using about 4.5qt ATF-WS. Vehicle will need to be level for entire procedure. I think i will wait 50k before next D+F.
In future i think i will avoid dropping the pan and simply remove the pink fill tube only to avoid having to buy a new pan gasket.