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The 2004 Toyota Highlander requires Dexron VI automatic transmission fluid, which is a high-quality synthetic fluid that acts as a protective barrier for your transmission gears. I suggest checking your transmission fluid each time you have an oil change to ensure it is at the proper level and clean of any debris. Metal filings can contaminate the fluid from damaged gears, giving it a reflective or sparkly appearance. To safeguard your vehicle's gears and prevent damage, it's crucial to replace the transmission fluid every 30,000 miles. The transmission is a costly component in your car that you definitely don't want to fail.
The 2004 Toyota Highlander should use Dexron-VI automatic transmission fluid according to the guidelines.