"Compatibility" is questionable. In some, or most vehicles different fluids may work fine without any real noticeable changes. Certain vehicles may be a bit more sensitive though. Like many, I have done lots of "research" and used a variety of fluids throughout the drivetrains of my vehicles. In most cases I have never had a problem.
I like to do a regular drain and fill of my '99 A343F trans. I tend to get about 4 qts each time and at 300k the trans is still strong. Recently I changed my fluid choice and now have a blend of "compatible"ATF fluids. Around the same time I started getting what I thought was a misfire when shifting into a drive gear and under light acceleration, idle to 1500 rpm. I have been logging live data looking for why I have had this misfire and was coming up with nothing. Techstream was showing no faults and the misfire counter was reading a big fat zero across the board. All sensor activity was normal, though the maf did seem to be a bit off, but not during a "misfire."
Well, it dawned on me that this all started around the same time as the trans drain/fill and mixing of fluids. After more digging I have learned that while fluid manufactures will claim compatibility there are in fact differences in some fluids that may have a negative impact. It's my understanding that the WS fluid, while it's had its own revisions over the years has vastly different viscosity properties from some, not all, other fluids.
In my case I had used Redline D4, since it was claimed to be "compatible" and we stocked it at our shop. I have used it with great success in many other applications, but evidently it does not play well with the A343F trans and or the Toyota WS ATF.
If I were to use anything other than Toy WS I would consider using Valvoline MaxLife ATF. Seems to have been very successfully used in most Toyota products.