Drain and fills of the same fluid type are certainly much better than never changing the transmission fluid

. I've done them on other vehicles where a full R&R was more difficult than a Toyota and noticed better shifting/performance afterwards.
I do think that if you try the full R&R with a pan drop - particularly if you use the Motive Power Fill - you'll be surprised with 1) how easy it is and 2) how much gunk is in the bottom of the pan on even a low mileage transmission fluid in a lower-mileage vehicle. Using MaxLife ATF and filter/pan gasket from O'Reillys, plus a cordless impact for the pan bolts, I can do the full R&R for around $140 in maybe 2 hours of work.
The other benefit is - as
@2001LC mentioned above - setting the level properly. A drain and fill without checking the level afterwards (via the FSM procedure based on trans temp - with the vehicle perfectly level and at 95-105F) is really needed to make sure if's filled correctly. You should really be doing this at every drain and fill. So if you do a drain and fill ever year or so, you'll have to go through that process again and again (which is only a quick process if it's not overly hot or cold when you do the R&R). If you do the full replacement, you'll only check it at R&R intervals - which for me is around every 40K/3years - and won't need to worry about it in between.
I agee^^^
Two things: set temps and gaskets.
98-04 are set to 158f to 176f (to dipstick high hot mark)
04--07 set at 97f to 115F AT fluid #1 temp. We see #1 & #2 AT F temp on 06 & 07. (Check plug)
Both are checked, engine idling after shifting through all gears and in P.
No pan Gasket on 98-02, just FIPG. This is harder job than 03-07 which have a gasket. Personally I'd don't drop pans anymore, unless requested or very very bad old AT fluid and very high miles over 350K mile. When I do, I only use OEM FIPG or Gasket, depending on year.
Here what I use:
98-03 I use:
Tech stream to watch AT temp. We can shoot pan with IR gun and be close. But Tech stream is best.
AT fluid funnel. They're long and have small end to fit dipstick tube.
One Toyota AT drain plug washer (AKA plug gasket). Torque wrench set to 13ft-lbf .
~2' clean hose run from AT cooler out niple (PS side radiator) to catch bucket.
12 qt ATF (98-02 Mobile One MV, 03 Mobil MV full syn or Toy IV ATF)
04-up I use:
Tech stream to watch AT #1 temp.
Clear hose with funnel hung on hood latch, run to fill plug hole.
Same hose to catch bucket.
2 Toyota AT drain plug washer (AKA plug gasket). Torque wrench set to 13ft-lbf.
12qt Mobil MV full syn or Toy WS.