Cars are touchy in general. Best advice is if you don't know what your doing, then take it to a professional.
Oil: Most oil at your local walmart or auto parts store meets or exceeds your manufactures recommendations. Nearly every new toyota requires 5w30 all year around.
Transmission: Get this from the dealer. Most newer toyota's require tiv fluid and unless you have the additive to turn dextron 3 into tiv, you shouldn't add regular dextron 3.
Brake fluid: Any dot 3 brake fluid will suffice. Do not add to the brake fluid unless the fluid level is below the "min" mark. Low brake fluid can be an indication of brake pad wear or a leak in the brake system.
Power steering: You can use most any power steering brand that is manufactured for regular vehicles. Most Toyota's allow Dextron transmission fluid (use dex 3) as subsitutes.
Antifreeze: Get this from the dealer only. Toyota Radiators are very touchy!
Service the oil every 3 months or 3,000 miles. Some people will tell you to use synthetic and go 5,000 miles....don't. I have seen first hand what extended oil change intervals do to vehicles. Even if the oil says it lasts 5,000 miles, the oil filter only lasts 3,000 miles. Toyota engines have slugging problems and require regular oil changes.
Service the transmission every 2 yrs or 30,000 miles. I know the automatic dipstick says something like every 90k but thats for normal driving conditions. Unless you drive on flat planes and your planet has no dirt, traffic, or inclement weather, you don't drive in normal conditions. Servicing the trans every 30k will keep the dirt in the trans from building and ultimately extend the life of the trans.
Change the antifreeze every 2 years or 30k. DO NOT neglect the antifreeze. Neglecting the antifreeze could result in engine overheating, engine freezing, loss of heat, leaks, and costly engine repairs or total engine destruction.
Hope this info helped!