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I believe it is located on the bottom of the engine near the engine oil pan, but it may be covered by a skid plate or something similar.
The oil filter is not your typical spin-on type. It is located to the passenger side of the oil pan. There is a small plastic door (2 screws and a pivot hold it on) which covers it from view. Take the 2 screws off and the door comes off. There is a silver (aluminum) canister under it. You have to take the bolt off (square fitting) then drain the oil. Then you unscrew the aluminum canister. The paper filter element (like the old days) is inside. You will replace and O ring, the paper element and reinstall the canister. Then you install a small O ring on the bolt and torque it to spec. If you buy a Toyota filter, it shows the details on the box.