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Still has to be changed, regardless of the mileage. But given the mileage and the possibility that it has never been changed, I would just do a drain and refill first with a pan drop. Most of the bigger chunks, metal shavings will drop to the bottom of the transaxle pan and quite a bit might be stuck to those little magnets on the pan. Since it runs pretty decently, I doubt you have any issues with gumming and deposits internally - a drain and refill of fresh ATF fluid (Dexron II/III or equivalent) would help out. Depending on if is a 3-speed or 4-speed auto - plan on getting 4 quarts of ATF for the drain and refill. Has a filter inside - might also be a good idea to replace that as well.
I would recommend not "flushing" the system at this point - might be too much of a shock to the system and potentially cause some problems (assuming the typical cooler line flusher).
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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