Otherwise you need a hoist which almost no do it yourself maintainer has. Then the car needs a scan tool to measure ATF temperature and engine RPM; you need a specially calibrated Toyota tool that replaces the dipstick but inserts into the drain bolt opening. It is an adjustable height straw calibrated to ATF temperature. You also need a special vacuum tool that attaches to the fill port and puts a vacuum on the transmission so you can install the measurement tool without fluid gushing out and burning you. The you need to disconnect the vacuum line and watch fluid com out the tube, if it gushes out the transmission was over-filled. If no fluid comes out it was under-filled. Finally, you need a transfer pump to pump in fluid until it gushes out the tube, then wait until the drip stops. Now the correct amount of ATF is in there. But you’re not done yet; now you have to turn on 3 PSI vacuum again, so you can remove the measuring straw/dipstick and put back the drain plug. Then release vacuum, remove that fitting from the fill plug, and put the fill plug back on.
That is just a hugely complicated labor intensive (expensive) procedure just to check ATF fluid level requiring a scan tool, special adjustable straw measurement tool, vacuum pump with valves and fittings and a fluid transfer pump. All of of that just to replace a dipstick.