Were the mechanics "Toyota mechanics"(?), I guessing not, the reason they said not to do it is because many pros feel that a transmission with "high" miles on it will have sludge deposits in various places within the transmission and the new fluid will break these deposits free and clog the various passage ways in the transmission and cause problems which in much older designs using older inferior fluids was indeed an issue, BUT these newer fluids are much better in not forming these sludge deposits, BUT if you take it to a dealer or a shop that has a "Forced Flushing" machine to flush the fluid and passage ways under high pressure while replacing the fluid it could indeed dislodge possible sludge deposits in clumps that could clog the passage ways, what I do and what the tutuorials here on the forum does is simply replace all the old fluid with new fluid only using the pressure created by the transmission itself which will not dislodge any deposit, but the new fluid will over time desolve these possible deposits over time and not in clumps, the new fluid will provide the transmission with the proper lubrication it needs that the old fluid has lost.
Many on here still fear the complete replacement of the fluid and do several "drain and fills" over a couple of years which is better than just leaving the old fluid which has lost most of it's lubricating factor in there, BUT this process only replaces about 3 to 4 quartz of a total of 12 quartz in the transmission, which IMHO opinion is not getting the transmission back to optimum working condition.
I would recommend doing the complete replacement or at the very least do the drain and fill several times (at least 5 to 8 times) over the next two years or at least until the fluid is looking much the same color as the new fluid, and then either way you go do it all over again after 30,000 to 50,000 miles.