I'll keep this Toyota relevant. The only thing mentioned in the maintenance schedule is to check the trans for any leaks. That's it. From your posted schedule, I find it dubious that they list the transmission fluid/oil as an inspect item. In my opinion, if the fluid has oddities in it such as burnt smell, then it's already too late to do anything about it.
I mentioned to my service adviser at my dealership as to how much they charge to change the filter and oil in my trans. He said I don't need to touch the trans as it's a lifetime fluid in it. I still pressed him and he threw out a ball park figure of about $240.