Hello.
I've no idea about the ATM system as my van has a manual gearbox and I've never owned an auto however, check out the Toyota epc-data catalogue here:
https://toyota.epc-data.com/regius_ace/lh119v/114894/chassis/
and scroll down to "OIL 35-14 - OIL COOLER & TUBE (ATM)". Note that you will first need to tailor the link to a van with the ATM and best if you can be as precise to yours as possible.
Once you've done this you can check all the cooler fittinigs in this catalogue and hopefully work out what you need.
I'd imagine that the fittings are fairly standard and most garages can probably fabricate piping if necessary or there will be options. You might find you can cross-reference the parts to another catalogue parts supplier (such as Autodoc) or a local one or a local transmission specialist if you can't do the spannering yourself. But it'll be easier once you have the part numbers. It might also be worth speaking to your local Toyota dealer. Mine has been really great but best to be armed with indicitive prices first.
If one pipe is toast it might be worth doing them all, but I can only offer these sources. I've no idea about pressures but can't imagine they are too high in the cooling loop (they might be very high in the transmission itself). A pipe repair might be an option, but I wouldn't trust it long term.
HTH