Circus Freak

Iv'e had a '95 4runner since it was new, it's used as a family vehical with no off road or towing, a 3vz with an auto tranny. i've been doing the regular routine maintenance such as oil/filters/plugs whatever's not outta my league. It has 42,000 miles but the years on the tranny fluid and gear oils are of concern due to the years. Contrary to what the chiltons says (every 40k for tranny & gear oils) would it be advisable for me to change the tranny fluid and gear oils at this time with low mileage but twelve years running? i have no slipping or gear noise.