My 2002 Tacoma 4 cylinder has 142,8xx miles on her. She's pulling good and strong but sometimes when I'm gassing it on the highway, I feel some jerking / hesitation which might be from the transmission slipping. I've never changed anything but the engine oil, rear diff oil, and radiator fluid since I've owned her at 108k miles.
I spoke with someone and asked if they could change my transmission fluid and he recommended against it as it could get worse. He advised me to change the filter in the transmission only and leave the actual oil in there. I really don't see the point. Wont new oil help lubricate and protect the transmission? Should I leave it or change it based on above?