We've had this Rav for a few months and so I am slowly going through the servicing, it's got 120,000ks on the clock.
The transmission has a sticker on it stating that under a normal duty cycle the transmission fluid will never need replacing.
I dropped the pan to replace the filter and fluid (type WS - $138 per 4L bottle!!!)
The oil was jet black (rather than a lovely cherry red) and the pan had a layer of metalic looking sludge on it, and a the magnets were heavily coated in metalic stuff.
There were no symptoms to make me think there was something wrong, i just wanted to make sure everything was sweet. Really glad I did the service - wanted to share my experience with you all in case you have similiar transmissions.