Hello,
Yes, I would change the fluid these transmission need all then help they can get. Here is a guide to help walk you through the steps and spec and instruction in the diagrams below:
As far as a recommendation goes, Toyota says its good for life, but if I was changing the fluid at say 50-60k I would do a filter as well
https://www.2carpros.com/articles/how-to-service-an-automatic-transmission
Automatic Transaxle Fluid
Capacity .................... 8.2 qt (7.8L)
Automatic Transaxle Fluid
Type .................... Toyota Genuine ATF WS
Using automatic transmission fluid other than "Toyota Genuine ATF Type WS" may cause deterioration in shift quality, locking up of your transmission accompanied by vibration, and ultimately damage the automatic transmission of your vehicle
Check out the diagrams (below). Please let us know if you need anything else to get the problem fixed.
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Wednesday, May 26th, 2021 AT 6:16 PM