Toyota expressly states that the transmission fluid on this vehicle is 100k or life of the vehicle.
As a toyota technician and 06 RAV4 owner, I call BS. I have found, through experience, that 60k is on the out side of world standard transmission fluid life rang, and highly recommend flushing the system.
The 155$ they are asking actually sounds fair, for the fact that with WS transmissions you HAVE to know what your doing. It takes approx an hour to do this service witch involves connecting the machine and filling to a precise level that can only be determined using the toyota scan tool "it's an actual computer" and room for error is very thin.
Unless, of coarse, your Rav has a dipstick, most don't. If it does, you may have a bargaining chip for price reduction because the dealership usually has a blanket cost for WS transmission services, if it has a dipstick then the process is simplified.
SGT USAA (ret)
Toyota factory trained technician, ASE certified, expert.