First thing: check the fluid level, with engine running, fully warmed! The marks for "cold" are not that critical as the ones for "warm".
Also, there is no fluid that will fix a neglected transmission. At 160k miles it's way too late especially for the factory WS fluid (mine was completely dark at 70k miles). In the OP case the new fluid probably dissolved some gunky deposits and probably the filter or other screens/passages are clogged now.
A change of filter was/is absolutely needed at this point. And more than just one drain.
The OP transmission on that Scion xB is U241E, similar with my 2011 RAV4 U151F transmission. I have run without problems with MaxLife fill for like 1000 miles in it. But I usually do three drain-refills, 200 miles between them, to have trough clean fluid in the system. One drain is worthless IMO.
Later I added an auxiliary cooler and I refilled with Asin WS fluid (from Rockauto). This one feels even smoother and nicer, being a synthetic made my transmission manufacturer, but I don't know, maybe is a placebo and runs the same as the MaxLife.
I would never use the fluid that Toyota sells as, IMO, is overpriced and lower quality that alternatives. Not for my stop-and-go traffic in high summer temps.