My technique of tightening the filter made the insert difficult to get out. I had to put the canister in a vice. I didn't tighten the vice down, I just set it so it would catch the fins and used a 1/2 inch ratchet and 3/8 inch adapter to remove the insert:
Here you can see the insert removed, as well as the small o-ring. The hole in the center is where you stick the plastic drain spout:
The filter I'm using is a 04152-YZZA1; however, this filter has been superseded by part number 04152-YZZA5. Both the filters and the plug washer are available from your Toyota dealer, or online at Toyota Parts Center. Here is the filter label:
Here is the new o-ring installed on the outside of the inner canister:
It is kind of nice to only have to discard the paper element and install a fresh new one that is visible: