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Originally Posted by shimp999
My Haynes manual says every 50,000 miles do a drain and refill. So no it shouldn't be "too late". When people say "more harm then good" it usually refers to those who have never serviced their transmission fluid with tons of miles on their car (like 100k+ or something). Usually by that point all the gunk in the fluid is whats keeping your transmission together.
I do a drain and refill every 30,000 miles. Its fairly easy to do. As for cost, I just got my gf's Corolla flushed for $80 bucks. I called my dealer and they gave me a quote of ~$60 to do a drain and refill for my 2004 Camry.
If you do it yourself, I think the Toyota ATF Type T-IV fluid is like $5 bucks a quart from the dealer. Tire Kingdom mechanic tells me the Valvoline ATF fluid is a Type T-IV and its fine for my Camry, but my Haynes manual says exactly Toyota ATF. So I go with the Toyota stuff 
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I looked at the manufacture's service manual. Couldn't find any description about the ATF change procedures. Any body care to describe it. Also, what's the capacity for drain and fill? Is there a specific filler balt or just through the dip hole? Thanks!
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