I expect to get way more than 100,000 miles out of my 4runner (closer to 200,000-300,000). If you have the same expectation, I would recommend getting the transmission oil changed. It is a sealed transmission so there is no dip stick. There is a fill hole and overfill hole that is used to measure the oil level at the proper temperature. The service manual tells you how to change it. For $150, it might be worth it to get it done right. Mine only has 12K miles, but I would change mine every 60K miles or so. More than 60K miles, I'd be concerned about buildup and dislodging any material during a change. So 300K divided by 60K is only 5 changes @ $150 per change = $750 over a 20 year life is not a lot to pay to keep the transmission in good shape.
If you only plan to keep your car to 100K miles or 120K miles, forget it. Let the next owner worry about it.
Here's a link:
http://www.toyota-4runner.org/showth...threadid=28074