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Q: Should I service the transmission on my 1997 Toyota 4 Runner with 264,000 miles? on 1997 Toyota 4Runner

The transmission on my 1997 Toyota 4 Runner Limited takes a long time to shift when it hasn't warmed up. Once it's warm it shifts fine. It has 264,000 miles on it. I am the 3rd owner (I bought it about a year ago) and don't know if or when the transmission was last serviced. My brother, a master mechanic (but with not much Toyota experience), will be doing the maintenance for me and wants to know if we will end up with even more issues if we service the transmission? And what could be causing this problem? Should we do a drain and fill or a flush? Any words of caution? And any helpful hints? Thank you.
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You are on the right track, drain and refill 'ONLY' change the filter of course.....,Routine trans service.
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