If I were you, I would be hoping the PO hasn't touched the tranny or fluid....nor would I. I would focus more on making sure it is running and shifting correctly. I think it is sealed without a dipstick for a reason. I've had plenty of good reason to not worry about the tranny fluid. IMO, tranny fluid replacement is the number one over thought item amoung mudders.
By that logic your diffs and t-case should never be touched either.
Go ahead and change the transfluid, just do a drain and fill, the hardest part is filling the trans as the fill plug is on the side.
To check the fluid level is easy too.
I used Valvoline MaxLife, read the back, it will say Toyota WS equivalent. You will need 4qts. A hand pump and wrenches. The check plug is a 5mm Allen.
Remove the fill plug, driverside, half way up next to the shift linkage.
Remove drain plug.
Once drained replace drain plug.
Pump back in three qts of ATF, start engine, run through all the gears holding each one for 10 seconds until you hit 1st, then do the same going back into park.
Leave the engine running, crawl under truck, remove check plug. If fluid does not come out you need to add more, if fluid comes out let it drain until it starts to trickle, replace check plug, done.
A slightly easier way is to add all four qts, drive around the block, then with the engine running remove the check plug and let the excess fluid drain out.
Total time, about half an hour.