It is important to note that the fluid level should be checked regularly and topped off as needed. The fluid level should be between the "Full" and "Add" marks on the transmission fluid dipstick. If the fluid level is too low, it can cause the transmission to overheat and fail.
Here is a step-by-step guide to changing the automatic transmission fluid in a 2004 Toyota Sienna:
1. Park the vehicle on a level surface and turn off the engine.
2. Allow the engine to cool down completely.
3. Open the hood of the vehicle.
4. Locate the transmission fluid dipstick. It is usually located near the front of the engine, near the transmission.
5. Pull the dipstick out and wipe it clean with a rag.
6. Reinsert the dipstick into the transmission fluid dipstick tube.
7. Pull the dipstick out again and check the fluid level. The fluid level should be between the "Full" and "Add" marks on the dipstick.
8. If the fluid level is low, add enough fluid to bring it up to the "Full" mark.
9. Replace the transmission fluid dipstick.
10. Start the engine and let it run for a few minutes.
11. Shift the transmission through all of the gears, pausing for a few seconds in each gear.
12. Turn off the engine and allow it to cool down completely.
13. Repeat steps 7-12 until the fluid is clean and red.
It is recommended that you change the transmission fluid in your 2004 Toyota Sienna every 30,000 miles or 2 years, whichever comes first.