you have a 3rd gen gs? having the fluid changed twice before hitting 100k miles is strange.
unless you are referring to a 2nd or even 1st gen.
Yes, 3rd gen (A960E box). I'm in Europe but the ATF recommendations are the same as the US - i.e. no official fluid change interval. Unusual to find one with the fluid changed (and this was one of the reasons I bought it) - but as it was an "official" Lexus Ireland car only serviced in their own workshop I guess they thought it was a good idea!
I have the tech manual procedure for changing fluid and strainer and it doesn't seem particularly complicated (more time consuming that anything really) - but I'm very wary of anything to do with auto boxes!
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I performed a trans fluid exchange at 60K and yes I had Spark plugs done at the same time. I am definitely not one of those " if it isn't broken don't fix it" kind of guys. I've also done rear differential twice and coolant once. my car currently has 88,000 miles
I have a '09 GS350 AWD. I drive quite a lot, and I had the same concerns as you. So at 100k miles I brought it to Lexus of Wilkes Barre for a tranny drain/fill and transmission filter change. So they essentially dropped the tranny pan to change the filter, then filled it back up with fresh fluid. I had the Service tech keep the used fluid and filter for me to inspect; the fluid was BLACK, but the filter was still clear, with no debris or particles in it. The magnets in the pan were also free of metal shavings or other warning signs. The car drove great afterwards- shifts were smooth and strong.
I just had them do another drain and fill when it reached 130k. This time they did not replace the filter, Once again, tranny fluid was dark (not black), no debris or metal shavings in the recovered fluid. Tranny shifts great.
Chang the fluid and filter at 100k. Think about it, you just drove the car for 90k miles without a thought or concern for the tranny. This small procedure will ensure your car continues to work flawlessly, giving you one less thing to worry about.