[mrnickleye]

The toyotas use dex3 in the power steering. Keep that filled to the 'hot' line, so you don't run out and ruin the pump or rack. If you find that you need to fill it often, then you will need to find the leaks and fix.

The tranny has a drain plug on the bottom, and a fill plug on the side. Use something like 75w-90 gear oil, or synthetic.
The grinding sound is probably a bearing in the trans. If it continues after the oil change, have a 'trusted' tranny shop listen to it and give their opinion/quote$$.

Same 2 type plugs on the rear end (diff). I use Amsoil synthetic gear oil, but you can use the same as for tranny.

I ALWAYS change all the fluids when I get a vehicle. I want to see how bad the old looks, and know that I am starting out new. If you see a silvery look to the old diff or tranny oil, that is metal, and you might need a rebuild. Although, I have seen many that lasted for several more years with new oil.