3RD GEN AUTO TRANS FLUID CHANGE

So I have 2016 Tacoma it has 85k miles on it it’s never had the transmission oil changed, does it need to be changed

 

If you can DIY it’s not that difficult to do a drain and fill once a year for the next 3-4 years (assuming an automatic trans).

 

Are you supposed to drop the pan and swap/clean the filter and screen when changing the fluid or just drain and fill?

Drain and fill is easy, dropping the pan would be a bit harder for me as the truck is too large for the garage so I'd have to drop down some taps and walls to prevent dirt from getting blown into it when exposed

 

Just drain and refill if your intervals are not long. I personally would drop the pan and replace the filter if I were to ever exceed 60k miles between drains.