If change ar 35k makes you feel better, do it at dealer. It will

If your Camry uses synthetic and has not dipstick, 100k is not a problem. You should always use Toyota synthetic transmission oil, not aftermarket ones. This will last very long time.
Replacing it is a process and requires oil temperature measurement, cheape shop may not have equipment to do that. Normally, transmission oil change is two day job that will let the fluid cool down for properly measuring the level. It is not cheap either...