Transmission fluid is exposed to transient temperatures significantly higher than 200 F even if you don't tow or drive in the mountains.
Every time an automatic clutch pack engages, transmission fluid between the plates heats up. Fluid that undergoes frictional heating during engagement is rapidly cooled through bulk mixing with a much larger amount of cooler fluid in the transmission. The amount of fluid that heats up due to engagement is very small and yet the accumulative effects of a transient thermal spike with each transmission shift eventually degrades the fluid.
I saw a paper that presented measured ATF transient temperature spikes at the clutch pack in a test vehicle several months ago, but I can't find it now. This paper,
https://www.diva-portal.org/smash/ge...FULLTEXT01.pdf presents analysis if you are interested in the details of a thermal model that matches a 250 F transient fluid temperature peak measured during a long clutch engagement time in a test rig. A short engagement time results in a 360 F peak transient temperature. High torque loads increase peak transient temperature, under various conditions such as driving a loaded vehicle, rapid vehicle acceleration, frequent acceleration to high speeds, towing or climbing a grade, etc. You'll never observe these transient temperature spikes by reading transmission temperature with a scan gauge. The transient spike is very short and rapidly quenched through bulk mixing.
Google "transient fluid temperature during wet clutch engagement" for a list of technical papers on this effect.
Toyota recommends replacing transmission fluid at 60,000 miles under special operating conditions. I occasionally drive to a 7000 feet elevation, so I have elected to replace transmission fluid at 90,000 miles.