First of all for Brake fluid, the recommended by Toyota is DOT3 but you can use DOT4 if you want. But keep in mind that DOT 4 fluids absorb water at a faster rate and therefore need to be changed more regularly than DOT 3 fluids.
As for DOT 5.1 its not recommended, even though it can be used, but its completely unnecessary and should not be taken into consideration for normal cars.
I would advise to buy either Toyota Genuine brake fluid which is DOT 3 and 300 something ml.
OR you can use Seiken DOT 3 which is around 350ml
If you want to use DOT 4 you can also use Seiken or any other well-known brand.
