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Should I change my ATF

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Sir,

I love your videos on YouTube.  Thank you so much for sharing your expertise.  
 
Can I get your opinion on this situation.  I have a 2014 Toyota 4Runner SR5.   I am the original owner.  It has 96k miles on it.  These are local and highway miles.  I have done no towing and off-road driving.   I have changed the engine oil routinely every 5k.  
 
However, I have never had the transmission oil changed.  Is it too late to change it now for the first time or will I risk permanently damaging the transmission if I change the oil? 
 
The vehicle is in impeccable condition and I would like to keep it for another 100k miles. If I were to change the transmission oil now and it does damage it, what would you recommend as a repair?   What would you estimate it would cost?
Thank you so much for your expert opinion!
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