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There shouldnt be any problem with a flush at that low milage. I had mine pressure flushed at 150,000 miles and it didnt hurt a thing. Its best to do it with low miles on the transmission. The older the transmission gets the more reluctant you should be to pressure flush it. The belief is that the pressure flush will harm seals that have aged. With only 30000 miles you should be just fine even if the fluid is darker. If youre that worried about it then just drain and fill it (this only replaces about a third of the fluid).
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3rd Gen/5s-fe/Camry
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