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The 2002 Toyota RAV4 requires Dexron VI Automatic transmission fluid, also known as ATF 4 fluid. You can buy this fluid in one-quart containers at most major retail stores or from reputable online sellers. Prices for each quart range from $3 to $39. To make refilling easier and prevent spills, consider buying a low-cost funnel priced between $0.99 and $4.85. If you opt for a professional to do the service, expect to pay $40 to $138 in labor fees.
For the 2002 Toyota RAV4, it is best to use Type TLS automatic transmission fluid as per the recommendations.