changing out the transmission fluid shouldn't have any significant effect on the speed at which your car accelerates, or "pulls hard"
Fluid additive pack slowly degrades in time. Transmission adjusts (adapts) with that, for a certain extent (internal pressure regulation, shift points). The longer you wait for that fluid change, the harder you heat up that transmission, the bigger the "adjustment" will be.
When new fluid is introduced, the adjustment is still the same (takes a while to re-learn), so the shifts with the superior fluid feel firmer, car feels that is more lively. Eventually will adjust downwards, but there is still a benefit of running fresh additives in that transmission.
If synthetic fluid is replacing a semi-synthetic, that usually means the additive pack is less important and that's why that fluid it can last longer and at higher temperatures (like southern US summer in stop-and-go rush hour traffic).
Look we just gotta trust the engineering Lexus provides if the fluid is lifetime.
The definition of lifetime fluids literally means for the lifetime of the vehicle.
"Lifetime" means usually "lifetime of transmission", not "lifetime of owner", nor "lifetime of vehicle". That's 100-150k miles driven in "normal use" driving conditions.
If you look at that "normal use" definition, you found out that most of the urban areas in US (especially states in the lower half) don't fit the "normal" but the "severe driving conditions" or "Special Operating Conditions" (as Toyota calls them), and then the "lifetime" does not apply anymore, but rather 60k miles or 6 years.
Read the owner maintenance manual carefully...
Hyundai definition of "sever driving conditions" is below, see note # F:
A- Repeatedly driving short distance of less than 5 miles (8 km) in normal temperature or less than 10 miles (16 km) in freezing temperature
B- Extensive engine idling or low speed driving for long distances
C-Driving on rough, dusty, muddy, unpaved, graveled or saltspread roads
D-Driving in areas using salt or other corrosive materials or in very cold weather
E-Driving in sandy areas
F - Driving in heavy traffic area over 90°F (32°C)
G- Driving on uphill, downhill, or mountain road
H-Towing a Trailer, or using a camper, or roof rack
I -Driving as a patrol car, taxi, other commercial use or vehicle towing
J - Driving over 106 mph (170 km/h)
For example my RAV4 maintenance schedule shows this at 60k miles or 72 months. Inspect the transmission fluid for "normal". What happens if inspection shows dark fluid (and factory WS will be dark, guaranteed)? Leave it in there?
What's the point of asking for "inspection" if the fluid was indeed "lifetime, don't do anything". Note the 6 years duration, even if you have driven less miles.
Or they just say straight up replace for driving in "special conditions".