You would get as many opinions on this as the miles on your car. Seems like best practice would be to do a pan drop and fluid & filter change now. Repeat in 15KM. Your transmission has a drain plug and that makes the job easy. On the 2nd change you might want to skip the pan drop and just drain and refill the tranny. Make sure you buy the ATF from the dealer. If I am not wrong your car calls for Type IV ATF from Toyota and it is a formula limited to Toyota. Check your owner’s manual…