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There are barely 53,000 miles on my 2017 Camry 2.5L. Because I've worked on a lot of vehicles, I've gotten pretty good at this process. I think I'm up to the challenge. Different people have different ideas about how often I should change the gearbox fluid. In the autumn, when I should have around 55,000 (I'm retired and only put 3,000 on the car each year), I was considering making a change. I have all the original owner manuals and scanned the maintenance schedule, but all I can see is "inspect for leaks" far beyond 120K. There doesn't seem to be any specific reference to fluid changes. Odd things. 55-60K is what other sources suggest. Is there agreement on this?
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Everywhere I've gone, people have said to drain and fill at 50,000 to 60,000. There is no longer a need to change the gearbox fluid as manufacturers assert that it is a "lifetime fluid." You've reached the ideal mileage for your initial fill-and-drain. Are you referring to Toyota's temperature check method when you mention that you've become familiar with the procedure? For sure-fire fluid level verification, that's the way to go.
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Much obliged for your reply. In order to gain access to the filler and drain, I have watched multiple videos on YouTube. Gosh, dipsticks are sooo disappointing. How important is it to check the temperature after draining and refilling? My background is in information technology and shade tree work, but I don't own a digital reader, and the method described in the video is quite complicated (it starts at 3 minutes and 19 seconds in):
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Despite his competent performance in the video, the guy's method of checking the temperature is absolutely insane.
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It is not true that Toyota uses the World Standard Lifetime Fluid. I replace mine every thirty thousand miles. Should I have the dealer level my 2024 since I can't lift all four wheels? I do it myself, though, for all of my other Toyotas that have a dipstick.

The way this man does it is not something I particularly approve of. Crucial is the temperature. When a fluid is heated, it expands. As the fluid in the pan is heated and expanded, this man adds cold fluid to fill it up. Wrong on both counts. Watch this video to see a Toyota technician performing the process.
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In 2011, I also used this method. After a "Oops" moment of underfilling before entering fluid check mode, I mixed cold and warm fluids without any negative consequences. It is best to overfill the container first.

With all four wheels firmly planted, I can access the bolt for the gearbox pan drain. I go to the front bumper, get on my back, and reach under with my 6mm hex ratchet as soon as the D indicator lights up.
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The comments are appreciated. How much does it cost to have your dealer make the change?
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