At 59,000 miles - I would go ahead and drain and fill and replace the filter.

Also see our sticky for more insight to this commonly overlooked maintenance item:

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

You can do one of two things: You should have the fluid exchanged. These filters don't seem to clog easily, so that's a call, either way. If you drop the pan, you might as well have the filter replaced. 

From what I recall, the 2012 doesn't have a dipstick. So, the procedure is a bit involved, a combination of monitoring temperature and fill level, from the bottom of the car, rather than the top.

Do not let them flush the transmission. It's easy and cheap for them, and expensive and potentially disastrous for you and your transmission. 

Use OEM fluid, ONLY. 

Here's a generic explanation on how to go about it with a dipstick-less transmission:

https://www.youtube.com/watch?v=ej_6BZpK3gg

Yes.  It's good insurance on a very expensive component.

Just make sure you trust the person doing the job will use the correct fluid. 

Don't go to a "quick oil change" place for that one.

For me it’s a full fluid exchange and filter, not partial fluid at this mileage.

You can avoid having to refill using the temperature reading process if you carefully measure the amount that drains out and refill using the same amount. Much easier. Should be about 3.5 quarts, Toyota WS fluid.