I just changed all the fluids on my 4runner and with the exception of the coolant, all of the fluids looked brand new. I have a manual transmission though so I wasn't expecting anything to look bad. My truck has 96k on it. I replaced all of my fluids with redline.

As for the transmission, personally I would flush all of the fluid and be done with it. Replace with amsoil. Don't try mixing a synthetic with factory stuff even though people have done it with no problems, I wouldn't.