Changing A/T Fluid in '04 Sienna?

I have always owned and worked on M/T vehicles. Now I have an '04 Sienna with an A/T. It has 35,000 miles. Am I correct that it is time to change the A/T Fluid? Should I also drop the pan and inspect for metal shavings as stated in the Mfr. Engine manual, or is that only for when you open the trans for other reasons? I have heard tell of a filter that should be changed, but quick search of the manual did not indicate one. Ist there such a filter on this vehicle? I also searched the engine manual for fluid capacity to no avail. Any idea of the capacity?