Transmission Fluid Replacement, How often, cost, etc. Options

[BlackSTX]

My auto transmission fluid needs to be replaced, I can tell by the color. I called my Toyota dealer and they said they offer three services: one to drain and fill, one to drain, inspect the fluid for copper and stuff and analyze it and get more of the old fluid out, and the third to take apart the transmission and replace a gasket in addition to the other two. The prices were $50, 100, and 150. Would any of the services other than just changing the fluid be worth it? Since I bought my car used and it now has 93,000 miles I thought it might be worth it. Or should I just take it to Valvoline Instant Oil Change and let them replace the fluid and keep it changed regularly? How often should it be changed? I've put 29,000 on the car since I've had it and I haven't changed it, though I have checked it. I've heard bad things about quick change places doing your transmission fluid. Any thoughts or experiences?

[97GTinKC]

The 1st option you could do yourself, all you need is a pan and a wrench to fit the drain plug, then you could upgrade to synthetic fluid with the money you save, the best option would be to have them do the full service, then take it home, drain it and re-fill with synthetic fluid.