Assume it's out of warranty. Nevertheless, assuming it's not got too many Ks, say 160 plus, then you should approach Toyota for replacement under Australian Consumer Law.
Of course, Toyota may still fob you off because they know you'll have to go to a lawyer and that's going to cost you money. That said, if the trans is gonna cost 8k plus then paying a solicitor a grand for a consultation and a letter from them to Toyota reminding Toyota of their obligations under ACL might be good value for money.
Good luck. I'm about to have a fight over a leather steering wheel that's peeling on 3yo RAV.