My wife called dealer last week and they wanted something like $169 or so to do a drain and fill.
I told her let me order fluid and i'll do it once it comes in. well it came in today and decided to get it over with and just do it. Did a youtube search and looked to be one bolt. I used a T55 star bit socket.
looking at some old receipts i found that last owner did it at 65k miles. Today, it has 132k miles and to tell you the truth oil did not look too bad.
So for anyone thinking about doing this, its super easy and took maybe 20 min max. I paid $27 for 4 quarts of Toyota fluid online.