Toyota Repair: Tranny Fluid Drain and Fill, dip stick, 4runner

Question
At what intervals do you recommend a ATF drain and fill?  Is drain and fill adequate or do you think a full flush is necessary?  I have a 2002 4Runner automatic with 56k miles.

How do you read the dip stick.  It has a hot and cold?

Answer
It should be drained and refilled every 30,000 miles, flushing may not be necessary if if it's changed at those intervals, a complete flush is a good idea if the fluid has not been changed in 60,000 miles or more or if it gets discolored. Check the fluid with the engine at operating temperature at the hot mark.