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For the second time in my life, I got transmission fluid change on one of my cars. The first was a Ford Escort which really needed it. I thought a car like a Lexus wouldn't ever need it. Well, I got the fluid changed in my 95 sc300 with 50,000 miles because I felt it was taking too long in 2nd gear. I can't believe the difference. Car feels new again. I wrote this post to recommend doing the same, you won't be sorry.