Automatic Transmission and Differential Fluid

I own a 2005 Tacoma with 160,000 miles. I bought it from a guy with 149,000 miles on it about a year ago and can tell that automatic transmission fluid and differential haven't been changed in a while because the previous owner did not seem like the type of person to do maintenance. I've been told by my friends who are mechanics to not worry about it and dont bothering changing it at this point and that it will be fine, but I just wanted some other opinions to see if i should at least change the differential fluid.

 

Rear diff, front diff and xfer case are a no brainer. Change those ASAP. 6 quarts of your favorite diff fluid will do all three.

Do a drain and fill/fluid check on the transmission and see how the fluid looks. If as dirty as I would expect, it's probably worth dropping the pan and changing the trans filter and doing a full flush.

 

Here is the drain and fill instructions,

https://www.tacomaworld.com/threads/how-to-drain-refill-automatic-transmission.63851/

 

1st thing I did when I got my 05 Prerunner. Change diff fluid, it was milky.
Drain and refill tranny.