There were two Highlander engines in this model, a 2.4 4cyl and a 3.3 V6. Note that you think it’s the V6, good to double check I guess.
I’ll second of the comments above about the correct type of engine oil, it is super critical not to skimp on this oil with the V6. If I’m not mistaken it needs 5w40 or 10w40 fully synthetic for NZ, as the summers can be hot. There was a big legal action against Toyota for the V6 about the oil getting all sludgy and bunging up the the lubrication. You know I’ve had a couple of problems fixed due to acknowledgement of manufacturing errors way after the warranty expired, including a full respray, you might like to talk to Toyota.
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