Daryll,
Does that car use Toyota T-IV ATF or Toyota WS ATF? The WS is a longer life fluid (they are not interchangeable). If T-IV, I'd do a complete flush now and a drain & refill every 30,000 miles. With the WS, I'd probably do the same, but feel better about the longevity of the transmission. I'd also put a Magnefine or SPX Filtran in-line filter ($25) in the fluid hose to the cooler and change that every 30k. By the way, my '01 Tundra transmission (different transmission model from your car, but...) is now rolling over 115,000 miles and still pulls like new.
Regarding the fluids, you need to use either the specified fluid or one that is specifically "recommended" by the fluid maker to substitute for that fluid. The T-IV fluid is used by several car makers under different labels, so any label that says it is T-IV or 3309 is the right stuff. Many indie shops will use a Dexron/Mercon fluid and add a high friction modified supplement like Lubegard Black or Platinum to the fluid. That probably won't hurt the transmission, but I'm not sure it will feel like the right fluid. I like Lubegard products, but I'm not certain that their products are always suitable for modifying the fluid to other usages.
For the life of the components of your car, do renew all the fluids periodically. Flush and renew the brake fluid. Remove, refill, drive, remove, refill, drive the power steering fluid until you've used a quart (I use syn ATF). Flush and renew the coolant on schedule, and I stick with the Toyota brand or Zerex Asian formula to be sure the chemistry is right with all the metals inside the system.