My '13 Rav4 doesn't even have a dipstick. The oil is good for the life of the transmission.
I hate to say this but it's not. And that's the problem with the factory recommendations.
An example.... The A750E/F Aisen-Warner transmissions behind the 1GR-FE Toyota engines. They had simple problems with these transmissions for the first several years that a simple, complete ATF fluid exchange solved, but even the dealers didn't understand it and were replacing whole transmissions without attempting the atf changeout first to see if it solved the problem. Some under warranty, some not. It was a huge waste of money for Toyota and many customers. ~95% of this particular type of problem was SOLVED by a full ATF exchange even though Toyota said, and their dealers INSISTED on not changing the ATF.
The bottom line was, even thought the ATF was supposed to be lifetime (what is that really, just till the end of the warranty period?), the ATF needed to be changed (full exchange) at 65K and then pan dumps every other 35k (sooner and more frequently if you towed or off-roaded a lot). These trans also have no dipstick and people were told not to touch them ..... that they were sealed. All a bunch of whoey. (There is a way to measure the fluid without a dipstick and all of these transmissions have a fill plug, drain plug, and a fluid level check plug.)
I did mine at 65K and the ATF looked life chocolate syrup and I replaced it with full synthetic that met the OE specs. I'm getting ready to do the pan drain and refill as well.
Don't believe the baloney about lifetime fluid. It does not exist, no matter what you are told. It makes the manufacturer 'look' green' because you are not having to change fluids, and they think it sells more vehicles.
(In this particular case, the glues that held the clutch material together were gumming up the fluid as the clutch plates wore and were causing torque convertor chatter/shudder at low rpm's in high gears).
DEWFPO