I would use the OEM gasket only. for my truck the part number is
35168-60010
but double check that is the right one for you. I use 100% OEM toyota parts for anything, Never use anything from Autozone or any of that type of 3rd party garbage
Many consider the trans filter part of regular service. once you get the pan off, inspect the magnets in the pan - you'll get an idea of the health of the transmission overall.