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For the 2020 Toyota Tundra, it's advised to have the transmission fluid replaced every 30,000 miles using Dexron III/Mercon ATF Automatic Transmission Fluid with a capacity of roughly 10 quarts. Transmission fluid serves as a lubricant, similar to oil, ensuring the transmission components stay safe from heat damage. The cost for this service typically ranges from $60 to $70 for labor and around $60 for parts. Warning signs that it's time for a fluid change in your Tundra include a grinding noise from the transmission, issues with shifting gears, slippage during gear changes, unexpected surges, and delays in movement after shifting into gear.
In a Toyota Tundra, it is recommended to have the transmission fluid changed every 30,000 to 60,000 miles.
Based on the Toyota Owners Manual and Maintenance Schedule for my 2013 Tundra with a 5.7-liter engine, it is recommended to wait until reaching 120,000 miles to change the transmission oil, unless the truck has regularly been used to haul heavy loads or tow. There is no mention in the manual of needing to replace the transmission oil under normal driving conditions.