This subject of ATF oil changes crops up on the forum fairly regularly over the years, and always seems to divide into two camps - the 'dos' and the 'do nots'.
On the Mk 4 the service schedule is for a fluid change every second 'B' service, ie at 36.000, 72,000, 108,000 etc. In Lexus speak "Fluid change" means drain what ATF is in the oil pan and replenish - normally about two litres can be drained off this way. This does not constitute a flush of the transmission, of which approximately a further ten litres of ATF will be held in the torque converter, transmission cooler, pumps and associated pipework.
My last service at a main Lexus agent was at 108,000 miles back in 2008, and despite being previously assured that all items on the schedule would be carried out, all they actually did was a standard B service without reference to overall mileage or time. When I queried the lack of fluid change, the Service Manager stated that the transmission fluid on the dipstick was a nice colour, and didn't need changing.
Quite true, the dipstick oil did present a fairly healthy pink complexion, but as others have noted, this is not necessarily indicative of the true state of affairs. I therefore decided to do a fluid drain and refill myself. The fluid that came out was not pink and healthy when viewed in bulk, and had a distinctly purple/brown colour, with non of the clarity of new Type IV fluid. Proof positive that appearances can be deceptive when viewing the oil condition via the dipstick.
Quite by accident, I discovered that after having left my car with its nose up in the air overnight on a set of ramps, a further three litres of ATF could be drained out of the pan, having drained back down from the torgue converter etc. So, five litres of fresh Type IV later, I had a dipstick that really did look "in the pink", and still does.
I'm not an advocate of flushing auto boxes unless absolutely necessary - it can sometimes disturb sediment and cause more problems than it cures. I am however an advocate of draining two litres out every 36,000 and replenishing, as per the Lexus schedule. Aisin gearboxes are generally very reliable indeed, but I can't help but feel that the drain and refill has been put in the schedule for a good reason. For those who have horrible brown sludge or the smell of burnt ATF fluid, I see little alternative but to try and replace as much of the fluid as is practical. Regular drains and refills may just have the edge over a full blown flush.
The one thing that I would emphasise is the importance of using Toyota's Type IV fluid in the Aisin gearbox - they tend not to like Dexron or other alternatives, no matter what the manufacturer's claims as to meeting the correct specification.
Regards, Alan