New to me 2015 with 147K. ATF never changed. I tried to do it but the drain plug and fill plug are not coming out. Found out nobody wants to work on a Prius locally. Did find a garage that after checking the procedure and ensuring it was a straight dump and fill, agreed to put it on a lift and get the plugs out for me and do the fill. Was not crazy about going to Toyota for that.
Are they using Toyota ATF WS fluid? regarding removal of fill and drain bolts, it helps to use a long handled (18”~ or so) ratchet wrench, with a 10 mm hex bit socket. A torque wrench for the install would need that socket too. One of the links in my signature is about transaxle fluid change. If you’re viewing on a phone, turn it landscape to see signatures.
They have it scheduled for next Thursday. Busy place and they work on my other vehicles so I really trust them. Doing me a favor actually as they normally never touch hybrids.
It is a straight dump and fill. The car should be level though. You should measure how much comes out and then put that amount back in. Generally 3.5qts I think.
The car being level during the fill is a dead-simple way to get the level right when filling: when it starts overflowing, it’s right. More info in aforementioned signature.