Toyota Automatic Transmission Fluid

Toyota markets their own automatic transmission fluids under the Toyota brand name. Toyota does not license their automatic transmission fluid specifications to companies who wish to manufacture the fluid and sell it under their own brand names. Toyota dealerships and online retailers sell the Toyota branded fluids today. If the official Toyota logo is not found on the container, the fluid may not be Toyota approved and the fluid cannot be guaranteed to meet Toyota specifications
Toyota Automatic Transmission Fluids (ATF).
The original Toyota Type-T transmission fluid was not introduced until 1988. Over the years, the original specification was supplanted by Type T-II, Type T-IV, and the WS fluid, which is the latest fluid. Toyota has upgraded the ATF specifications over the years; the newer fluids are not always backward compatible with previous fluids. Newer 6, 8, and 10-speed transmissions as well as Hybrid-Electric (HEV), Plug-In Hybrid (PHEV), CVTs, and Electric Vehicle (EV) transmission technologies require specialized fluids to operate properly. There remains a market for older fluids that claim to meet the earlier fluid specifications. See the details below for backward compatibility of each fluid.
Before Toyota ATF - 1959 - 1988.
1959 - GM Type "A" Suffix "A" Fluid.
In 1957, General Motors (GM) released a new Type "A" Suffix "A" fluid specification. This fluid was better suited for the higher fluid temperatures caused by the unique torque converters and higher power engines of the day. The fluid specification was revised again in 1958, 1959, and 1960.
In 1959, Toyota adopted the GM Type "A" Suffix "A" fluid specification. Toyota recommended the following brands of Type "A" Suffix "A" fluids:
This fluid was first used in the 1962 Toyota Corona (RT40, RS43L, MS43L, RT43L) used the following transmissions: 
1966 - Ford Type-F Fluid.
In 1966, Toyota adopted the Ford Type-F (M2C33-F) fluid specification. This upgraded fluid had improved low-temperature viscosity to provide for adequate shifting times in low temperatures. The fluid also had better oxidation resistance characteristics which resulted in longer fluid life.
Toyota recommended the following brands of Ford Type-F fluids:
This fluid was first used in the 1967 Toyota Crown and Corona Mark II with the following transmission:
1969 - GM Dexron (B) Fluid.
In 1968, Toyota adopted the GM Dexron (B) fluid specification. This upgraded fluid had improved low-temperature viscosity to provide for adequate shifting times in low temperatures. The fluid also had better oxidation resistance characteristics which resulted in longer fluid life. Toyota became a licensed reseller of the GM Dexron (B) fluid; it was marketed under the Toyota brand name.
This fluid is backward compatible with all Type "A" Suffix "A", but not Ford's Type-F fluid.
This fluid was first used in the following transmissions:
1973 - Dexron II(C) Fluid.
In 1973, Toyota adopted the GM (MS-7176) with GM Dexron-II(C). This upgraded fluid had new oxidation and rust inhibitors to replace the previous sperm whale oil additive. The fluid also had better oxidation resistance characteristics which resulted in longer fluid life. Toyota became a licensed reseller of the GM Dexron-II(C) fluid; it was marketed under the Toyota brand name. This fluid superseded the previous fluid.
1975 - Dexron II(D) Fluid.
In 1975, Toyota adopted the GM (GM6032M) with GM Dexron-II(D) fluid specification. The fluid had better oxidation resistance characteristics which resulted in longer fluid life. Toyota became a licensed reseller of the GM Dexron-II(D) fluid; it was marketed under the Toyota brand name. This fluid superseded the previous fluid.
This fluid was first used in the following transmissions:
NOTICE: The Dexron-II(D) fluid was superseded by the GM Dexron-III(H) fluid specification in 2002. (See Toyota Technical Service Bulletin TC001-02)
Toyota ATF 1988 - Today.
1988 - Type T Fluid.
In 1988, Toyota released their first automatic transmission fluid specification; Toyota Type T Fluid (See Toyota TSB Volume 9-10 04-10-1988.)
This fluid was first used in the following transaxles:
This fluid is not backward compatible with any previous Toyota recommended fluid.
1993 - Type T-II Fluid.
1993 Toyota made several changes to their transmission fluid recommendations:
This fluid is not backward compatible with the previous Type T fluid.
This fluid was first used in the following transmissions:
1995 - Type T-III Fluid.
In 1994-1995, some early OBD-II phase-in vehicles experienced a P0300 DTC (Random Misfire). Engineers determined that road forces being transferred through the Torque Converter Clutch (TCC) was affecting the normal rotational fluctuations of the crankshaft and tricked the ECM into thinking there was a cylinder misfire.
The solution was to create a new kind of TCC that would normally slip around 35 rpm. Toyota called theirs a Slip Controlled Lock-Up Clutch (SCLC), other manufacturers had their own names. Some SCLC systems had a shudder or vibration during normal operation. Engineers tried several computer calibration changes, but a revised fluid was also needed to address the issue.
1998 - Type T-IV Fluid.
In 1998, Toyota releases the Genuine ATF Type T-IV Fluid Specification (JWS3309). This fluid was the Next Generation High-Performance ATF for Slip-Controlled Automatic Transmissions. This fluid replaces Type T-III, Type T-II and Type T fluids in all vehicles. All vehicles produced after 1993 with Automatic Transmissions specified to use ATF Type T, T–II and T–IV. (See Bulletin TC003–99). Do not confuse this fluid with Chrysler's Mopar ATF+4, they are not interchangeable.
NOTICE:
This fluid was first used in the following transmissions:
2002 - WS Fluid.
In 2002, Toyota releases the Genuine ATF WS (World Standard) Fluid Specification (JWS3324 or NWS9638). This fluid is not backward compatible with previous Toyota fluids or Dexron fluids. Almost all 2004 and above Toyota vehicles with automatic transmissions use the WS fluid specification. This fluid absorbs moisture and should never be reused. Always use fluid from an unopened container. See Toyota bulletin T-SB-003-11
Toyota asserts that under normal usage, the fluid has a maintenance interval for inspection only; ATF-WS does "not" require any flushing or changing during the life of the vehicle; however, an inspection of the maintenance schedule of many Toyota vehicles reveals that there is a replacement interval if the vehicle is used on short trips, city driving, hauling heavy loads, trailer towing, or using a car-top hauler. Check your own maintenance schedule for your vehicle's requirements.
This fluid is not backward compatible with any previous Toyota recommended fluid.
This fluid was first used in the following transmissions:
2011 - CVT Fluid TC.
In 2011, Toyota released the CVT fluid TC fluid specification for Continuously Variable Transmissions (CVT).
This fluid was first used in the following transmission:
2013 - CVT Fluid FE.
In 2013, Toyota released the CVT fluid FE fluid specification for Continuously Variable Transmissions (CVT).
This fluid was first used in the following transmissions:
Toyota "Lifetime" ATF.
Example Maintenance Schedules.
Toyota Lifetime automatic transmission fluids made from higher quality base oil and an additive package are more chemically stable, less reactive, and do not experience oxidation as easily as lower quality fluids made from lower quality base oil and an additive package. Therefore, higher quality transmission fluids can last a long time in normal driving conditions (Typically 120,000 miles (193,121 km) or more).
The definition of 'Lifetime Fluid" differs from transmission manufacturer to transmission manufacturer. Always consult the vehicle maintenance guide for the proper service interval for the fluid in your transmission and your driving conditions.
2018 Camry Example.
According to the Scheduled Maintenance Guide of a 2018 Toyota Camry with WS "Lifetime Fluid" and an 8-speed automatic transmission, the automatic transmission fluid never needs to be changed under "Normal" driving conditions; however, there are Additional Maintenance Items for Special Operating Conditions:
Normal Driving
Under "Normal" driving conditions, the automatic transmission fluid never needs to be changed.
Special Operating Conditions 
Under "Special Operating Conditions", replace automatic transmission fluid and filter every 60,000 mi (96,560 km) or 72 Months.
2018 Tacoma Example.
According to the Scheduled Maintenance Guide of a 2018 Toyota Tacoma with WS "Lifetime Fluid" and an 6-speed automatic transmission, the automatic transmission fluid never needs to be changed under "Normal" driving conditions; however, there are Additional Maintenance Items for Special Operating Conditions:
Normal Driving
Under "Normal" driving conditions, the automatic transmission fluid never needs to be changed.
Special Operating Conditions 
Under "Special Operating Conditions", replace automatic transmission fluid and filter every 60,000 mi (96,560 km) or 72 Months.