06 Tacoma Prerunner Double Cab 4X2 V6 Transmission question

I am the second owner of an 06 Prerunner 4X2 V6, with over 170,000 miles. I think it needs automatic transmission fluid (ATF) added. After I get the ATF temperature check practiced, and learned.
See, I have not serviced it before. In other words, I haven’t added or drain and filled the transmission fluid before.
What it is doing is as I’m driving it hesitates mostly when speed is at 30 or 40 and sometimes slower speeds. It makes a clunking noise. Then it hesitates and jerks while changing gears.
A friend and I were going to change the ATF. With a drain and fill. But after reading some of the threads and watching “You Tube” videos I don’t know if I should. Or just add ATF?

The local Toyota Service Department says to just add “BG SYN”.

Also what does this mean:
“REAR DIFFERENTIAL CONV.” by the local Toyota Service Department.”?

 

I can only assume this is what they meant. Also, sounds like they don't want to mess with it.

https://www.bgprod.com/catalog/transmission/bg-premium-full-synthetic-atf/

https://outbacktravelaustralia.com.au/4wd-mods-tech-torque/differentials-explained/

 

You may just want to make sure it's full first and see if that fixes your issue, if it does then consider doing a pan drop and refill.

 

You should read up on the pros and cons of changing transmission fluid that has not been changed in high mileage transmissions. It can cause more problems than fix.

 

My truck is an '06 2WD, V6. I'm the original owner. For ATF I've done the drain and fill at 60K and 120K on the odo. I have 150K and some change on the truck now and so far I've not had any transmission issues. IMHO, a drain and fill won't hurt anything on your truck and is worth a try. I would check the fluid level first and then proceed. If you are low you will need to add more than what you see drain out.

 

Thank you all for the information it has been helpful and much to think about.

 

#1 My 2006 V6 while driving it's making a clunking and is making a jerking motion which make me think it was the transmission. I will be doing a drain and fill on it later after checking the temp check levels on the ATF.
#2 While I’m thinking about this, I might need to change the differential fluid also. Does anyone have any ideas?
I’ve heard that Dino or conventional fluids are best instead of synthetic fluid for the transmission in an ‘06. Does that apply to the defferential also?

The defferential fluid needs changing also. The original sticker on my ‘06 says “Limited Slip Differential”(LSD) on the “Standard Equipment” list. Does this mean I need to add LSD additive? Is LSD additive synthetic? Please help.

I also did read in one of the threads to use,
Lucas 85-140W conventional (not synthetic fluid).
Thanks for your help.

After looking at the attachment:

I have not done fluid changes on my truck ever sense I had it.
Transmission fluid
Rear and Front differential
Transfer case (No transfer case on a Prerunner - 2 Wheel drive)
or the grease ing the Driveshaft.

I’ve had other mechanic or servicemen do the work on my Toco. To my knowledge, it has never been done.

I had oil changes done and I changed out my spark plugs and cleaned the throttle body, cabin air filter and battery.

After battery the radio went out still haven’t figured that out yet. It also has a battery drain somewhere. But I’m not that concerned about it right now.

Currently, I am concerned more about the fluid on differential and automatic transmission.


I just want to do the correct fluid changes. My Toco has been good to me and my family . . .

Thanks for any advice or input you all can give me . . .