Change automatic transmission fluid and filter if the vehicle is mainly driven under one or more of these conditions: In heavy city traffic where the outside temperature regularly reaches 90°F (32°C) or higher. In hilly or mountainous terrain. Uses such as high performance operation. Manual transmission fluid doesn’t require change.
Transmission fluid serves a number of vital functions, one of which is to act as a hydraulic fluid to enable shifting. When your vehicle’s computer tells the transmission to change gears, hydraulic pressure (provided by the fluid) squeezes a series of plates together inside a clutch pack to connect the engine to the transmission output shaft and route power to the wheels.
For automatic transmissions, it’s recommended to change the transmission fluid every 60,000 to 80,000 miles. However, the exact mileage will depend on the vehicle’s use – and there is no harm in changing the fluid before it hits that mark, so it’s better to err on the side of caution and change it too early than too late.
I believe (not 100% sure) that toyota currenlty suggesting trans fluid change every 30K OR 36 months, which ever comes first. , I believe 60k on one of their models, but mostly 30K. So you are 19K miles past your first trans fluid change, you should be 2/3rds of the way to your second. So ya, you are do right now.
Installation and Refill. Fit the new filter and apply the new gasket to the pan. Install the oil pan and do not over tighten the bolts to not crush the gasket, make the rubber do the sealing and not brute force. Use a crisscrossing pattern like tightening the lug bolts to ensure evenly distributed gasket.fKEfl9S.