Yup... Bought my Yaris specifically because...
1) Timing chain
2) Dead simple 4 speed automatic. It actually has a drain plug and a filter you can access. Took it in, ONCE, and asked for a drain, fill, and filter change. Was informed "Sir, we don't change the filter unless there is pan damage". Cool. Gimme my car back, I'm leaving. Went to the parts counter and ordered a filter, pan gasket, plug gasket, and a case of Toyota WS ATF and have been doing it myself ever since. Drain and fill every year and drain, fill, and filter every other year. Little bastard is about to hit 400K miles. Looks like hammered dog shit but drives great and still gets 32MPG so...
To address the lifetime fill thing. That seems to be USA bullshit. Take the Subie CVT (I know, I know but hear me out) fluid change interval for example...
Subie USA sez lifetime
Subie Japan says every 30k miles.
Believe the USA spec and enjoy your new solenoid bank ($$$$) or whole new transmission ($$$$$) if they can actually get one. Freakin Caddilac Northstar era was the same. "You" can't drain or fill the trans but when I pulled a front coil bank I found a (GASP!) dipstick and a filler cap. Go figger!