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I did our echo transmission fluid at around 200K. If if remember correctly, it wasnt black, but a dark dark reddish color. I hooked up a hose to the outlet line , put the car in gear for about 8 seconds to get all the fluid out, then replaced the filter and refilled the fluid. When I drove it, it had a weird shift flutter when it should have shifted into the next lower gear. My guess was that since the tranny was extra slick, it had to relearn the shift points. After a day or so, it returned to normal, and no weird things like that ever again.
I believe, the tranny fluid, per toyota doesn't normally have to be changed for a long time. Unless you drive/live in what would be considered a more extreme/harsh environment (dust, weather, etc.) do they normally recommend changing the fluid sooner.
At 100K, I think you could have waited longer, but oh well. The fact it's purple tells me it isn't original--mine wasn't purple but red.
Also, when I refilled, I made damn sure to use Toyota transmission fluid and no other brand.
Generally, a suck and refill, will keep some debris inside so, it keeps some grittyness which is good for no slipping.
I actually dropped the pan, changed the filter, and refilled. Other than the shift point thing, 4 years later, shes driving and shifting fine. No regrets on changing the fluid. Also good to clean out the pan, magnet, and determine how much wear going on, etc. If you do do it (with Toyota fluid, of course), I would just do a pan drop/filter replacement/refill fluid and call it a day. But don't skimp on the fluid. Get Toyota fluid.