Per Toyota’s maintenance recommendations they say the WS fluid is for the lifetime of the transmission. But when the fluid degrades eventually and the transmission dies.... it’s a causal argument

How you managed to get a 2011 with such low miles is beyond me, but enjoy it, and congratulations! Has it been used for towing? Do you intend to tow with it, or go deep off road? If yes to either or both, then go with the shortened change intervals at 30,000 - in other words if you’ll work it hard. Otherwise you should be fine to run that out a bit longer.
When changing the fluid, if you’re able to accomplish the return line flush easily, that’s the way to do it. Drain/pan drop gets about half the fluid but then you’re mixing new and old. If you change frequently, this may be sufficient. However the flush is the way to go.
If you want to ensure a long life for this, strongly consider adding a stacked plate transmission cooler as this will significantly drop your operating temperatures, particularly in the summer. If you live in an area that gets freezing temps, there are some units available with a built-in low-temperature bypass for the fluid.
2012 RAV4 Base FWD. Upgraded to large front brakes and 3rd row rear springs.
Link to SAE J2807 test description

That Dam Towing Test: New SAE Trailering Standards Explained
The new standards ask: Can you climb the Davis Dam grade?