I think it's discussed but still it's better to ask and reply be posted again.
As per manual
55,000 km or 2 years
In my thread, you can see I did it at 28,000 km as I was at 2 years mark.
Currently I have reached 2 years and since last CVT fluid change its 22,000 km so planning to change the CVT fluid second time in 4 years this winter IA. My car is approaching 50,000 km in 4 years now.
DO NOT FOLLOW NON-OEM METHOD OR WISHES OR SUGGESTIONS OUT OF BLUE. JUST STICK TO TOYOTA AUTHENTIC PROCEDURES