make sure you say flush .... not drain and fill ..... it may cost a little more but thell the service writer that another place changed the fluid and wasn't sure they put the correct fluid in it ....Dexron is very different than type IV
if you never changed the brakes it is about time ....
there is no diff in a 2wd
usually a lexus dealership is better ..... eventhough toyota can do the job ....