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Adding my experience — 2015 iQ with 61kkm, made a whine upon heavy acceleration when the engine was warm, at any speed but especially when on the highway. The noise was high-pitched, like a power drill, and seemed to come from the back of the vehicle (or maybe just the exhaust). The guy at the Toyota dealer said there was no way CVT fluid replacement would make it go away, but I said to go ahead with it anyway. Just got it back, drove it on the highway for a while, floored it the same way I did while diagnosing the issue. The whine is completely gone. Funny how even though the fluid is supposed to last the life of the transmission, it still seems to go bad before then ;)
 

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2014 Scion iQ
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Toyota I guess is trying to improve sales, by making calculated vehicle life shorter and shorter. I'd probably have a dealer do mine as well, since I don't have a level driveway, (when the time comes)...
 
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