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[Solved] Change Transmission fluid in my 2002 Lexus ES300?

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Good evening Scotty. This past Wednesday I bought a 1 owner 2002 Lexus ES300 with 160k miles from a dealership. On occasion There is a little lag (feels like a slip) shifting from 4th to 5th gear. I logged into drivers.Lexus.com portal and all service history through 110k miles was done at a Lexus dealership BUT doesn’t show any transmission flushes or any service on the transmission. Should i have the fluid and filter replaced ? Ive read sometimes this may do more damage than good, so not convinced on what to do ? thanks Stephen

I put a OB2 scan reader on it and it has no codes

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On a Lexus, you may go ahead, but check the condition of the fluid first.

See here for further guidance - 

https://carkiller.com/scottykilmer/qa/atf/

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