Disclaimer: I didn't read every single reply in all 16 pages.
Last week I changed out the transmission fluid on my 2008 V8 4x4 Limited (sealed transmission, WS "lifetime" atf)
History of truck: I bought it in October 2018 with 99k on it. One owner truck with every single service done at the dealer. I downloaded the service history from Toyota...every oil change, every bulb change, the exhaust manifolds, timing belt, etc are documented.
Severe duty maintenance schedule says to change transmission fluid at 60k. Since this truck was a garage queen, the previous owner followed the regular maintenance schedule.
It had 123k on it when I changed the atf. It never towed until I bought it. I've made 6 trips towing with it, 300 miles total each time. I tow two snowmobiles in a 16' enclosed trailer.
Here are pictures of the fluid that came out compared to what it looked like when I checked the level when it got to temp (and had to drain some from the overflow). The old fluid didn't smell burnt, but it was pretty nasty. I didn't think of sending a sample in until later that night...all the old fluid was in the waste bin at that point.
A couple things to note:
1) Yes, there is a filter you can easily change once the pan is dropped.
2) There will be some fluid left in the pan once you drain it, but not enough that it will dump on you when you remove the pan (like a GMC K-series will).
3) On a V8 with the aux transmission cooler, the outlet from the cooler is the top hose fitting.
4) I found WS fluid to be cheapest through Amazon.
5) Replacing the fluid via a cooler line is much easier to do if you have a helper who can start/stop the vehicle for you.
I've done a simple fluid exchange using a cooler line on many vehicles with 100k+ miles on them and had no issues.
Edited to add: I bought 16 quarts of new WS fluid. I used 14 by the time I was done. I probably could have stopped at 13, but I'm weird like that.