I've been conducting a Prius transaxle oil study over the past six years and just posted a summary report:
NHW11 - should use Type T-IV over Type WS as the wear patterns suggest the lower viscosity losses may be more than offset by higher wear, friction losses. NEVER USE AMSOIL ATF DUE TO EXCESSIVE COPPER WEAR. Do an early change and then every 30k miles.
NHW20 transaxle oil should be changed early, at 60k miles, and then
90k miles thereafter.Use of a transaxle heater to bring the oil closer to operating temperature should receive equal weight to an engine block heater in colder weather."
Bob Wilson