When to chane Transmission oil

The consensus (here) for the Gen 2 (given that Toyota's official advice is it never needs to be changed – it's a life time fill) is first change at 30,000 miles (50,000 km) and then every 60,000 miles (100,000 km) there after.

 

No, we just say there is no official recommendation from Toyota. I advise you to change with ATF WS at 50,000 km, 150,000 km, and then every 150,000 km after that.

 

I agree with jimbopalmer.
Its a better late than never thing.

 

+2

 

some say to do one early, like 5k, to eliminate most of the factory detritus.

 

Yeah, I would not wait for 50,000 miles before changing it. Come to think of it, with 65,000 kms, ours hasn't even made it to 50,000 miles yet. Did first change (of 3, a little overkill, even I'l admit) at the one year mark, that was around 15,000 km. One year, regardless of mileage is maybe a good parameter. It was by far the darkest in appearance. Subsequent changes I would stretch the interval.

I have no idea how necessary changing it is, basically: for $40 and an hour of my time to DIY, I just do it.

 

The advice was 50,000 km.

 

Just make damned sure they use the correct fluid! It's only ~4 quarts total and 20 minutes.