Transmission question

I expect the transmission fluild has never been changed in my 2006 with 165k miles. My question is, as a new owner I find the transmission to clunk into gear more noticibly than previous vehicles. Is this the nature of these machines?
Should i get the transmission fluid swapped out? This is the model with no dipstick(fun), so dont know if i would bother doing this job myself.
Thanks for any input

 

I bought my 2007 with 193k miles and it was on its deathbed. I rebuilt everything in my garage and took it to Toyota for a flush and fill service and I kept that receipt in my factory manuals, I am now at 284k miles and everything is still working.

my advice is….. if it is still working take it to Toyota for service, keep the receipt. If it fails then go back and hope they honor their work and help you out.

 

https://www.youtube.com/watch?v=NUAuGmDGntY