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The 2001 Toyota Avalon only came with a 4-speed automatic transmission, and there was no option for a manual transmission that year. The transmission requires a total of 8 US quarts of fluid, which can be either Dexron VI or a multi-vehicle transmission fluid. Toyota offers their own brand of automatic transmission fluid, but it's not mandatory and can be challenging to find. If you choose to do the fluid change yourself, you can expect to spend between $70 and $100, which is cheaper than the $180 to $350 cost at a shop.
The amount of transmission fluid that a 2001 Toyota Avalon can hold is 8 quarts in total.