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The 2007 Toyota Highlander with its 4 and 5-speed automatic transmissions requires Dexron VI ATF fluid. It is advisable to have the transmission flushed and filter replaced every 30,000 miles to avoid potential issues such as hesitating, gear slipping, idle surging, decreased speed capabilities (sometimes less than 30 mph), difficulty shifting into gear, or being stuck in park. Prevent premature transmission failure by utilizing recommended replacements like Dexron VI fluid. Expect to spend around $160-$190 for materials and labor when changing the ATF fluid and filter in the Highlander.
For a 2007 Toyota Highlander, it is advised to use a full synthetic ATF 134 long-life automatic transmission fluid.