I just changed my transmission fluid.
Thanks to info on this forum I have replaced 12 Qt by draining it through transmission cooler line and using trany pump to pump it out. I used Toyota WS that I have purchased from local dealer for $90.00 including tax. In all it was around 1.5 hours process. A little bit messy, but definitely not hard and very doable.
One thing I would like to note that I was expecting to see my original fluid to be in worse shape, especially considering towing and offroading I do in 100 + Texas heat.
Original fluid was not bright red like the new one, but it was not brown at all (like I have seen in many posts here) … I would call it dark red and it did not have even a hint of burning smell to it. However, I believe transmission shifts a little bit smother now.. So I still feel good that fluid has been replaced.
BTW: truck has 60 K on it.
Just wanted to share my "transmission fluid change" experience.

Grats on the successful change! What's your mileage?

Thank you! It was actually in my post , it has 60K on it.

Thanks for posting. I'm always interested in seeing more information about this, especially the info about the vehicle usage and fluid condition.

This is why I love the internet. You come across great post like this – something you had never Googled for but you’re very glad you found by accident. Great post, thanks for sharing.

Thanks for the post! ours just rolled 100k, but had it changed at 54k. I'm thinking for piece of mind I might do it anyways.

And the tranny cooler line is leakin pretty strong gotta replace that somehow