Yes, you should have the transmission fluid changed, but I don’t think you should allow either the “oil change place” or your local mechanic, to change it.
I’d stay away from the oil change place because I think these places should be avoided at all costs, even for oil changes.
I’d stay away from the local mechanic because he’s really thinking old school on this issue.
How can new fluid possibly be bad for the transmission? If he believes that why does he change oil in an engine? Isn’t he worried about the new oil “blowing the engine?”
You should have been having the transmission fluid replaced at the interval specified in the owner’s manual, but even though you haven’t, it’s still “better late than never.”
Replace the fluid, and if there’s a filter it should be replaced, too. Use only Toyota automatic transmission fluid. I’d suggest you allow a Toyota dealer to service the transmission, but I doubt you’ll be willing to spend the money.