EDIT: I remembered wrong. I checked the maintenance schedule, and it's 60k miles when towing.
As I remember, the severe duty maintenance schedule says 100k for trans fluid.
I tow heavy, this is the reason I bought a V8 4Runner. Mine was a garage queen with 98xxx when I bought it. I exchanged the tranny fluid at 100k by disconnecting the tranny cooler....one quart at a time until it ran nice and pink. I used WS fluid. I plan on doing it again at 150k.