I had my Transmission fluid changed at 50,000 miles. About 7,500 of those towing our Travel trailer. Fluid was changed by Toyota. Because of the lack of a dipstick, Toyota specifies a certain procedure using there Techstream computer to verify the transmission temps to verify the level. I had a sample of the fluid analyzed by Blackstone. Report came back good. If I recall correctly they stated I had plenty of life left in the fluid itself. The sample did show some higher then normal levels of wear metals found in the transmission, but they also stated those levels were often times seen on a first change and were common with break in.