Toyota does not actually recommend a transmission flush.
f the transmission fluid is dirty, then a drain and refill will do
So basically, no, you don't need to flush your ATF. If you're not sure, just look at the tranny fluid---if it's clear, keep driving. If it's dirty, then get it changed out
Flushes are not needed unless you have burnt the fluid
The Toyota Type T-IV AFT also tends to discolor very quickly on some cars - can't go by color anymore. Burnt would indicate a problem,
On Corollas - a drain and refill every 30K for the tranny is a good idea - but keep in mind, that it is not required. Even some very conservative schedules have fluid changes at 60K miles - some 9th gen Corollas, with over 100K miles haven't even changed their ATF and are still running strong.