Hi,
It is never a bad idea to service the transmission. On this vehicle, you have a CVT unit. According to the manufacturer, it doesn't need to be serviced. I check all the way to 150,000 miles and every time the manual indicates to inspect and fill as needed.
Since this is a CVT transmission, do not add traditional automatic fluid to it. It does require a specific type of fluid designed specifically for this design. Make sure to use Toyota Genuine CVT fluid FE or equivalent.
Let me know if you have other questions.
Joe
Monday, May 6th, 2024 AT 8:21 PM