Transmission Noise problems of the 2002 Lexus RX300

I was driving to work till I heard grinding noise then I realized car does not accelerate any more then it towed away to mechanic shop and they told me it is the transmission.

While driving out of the parking space transmission started making very loud noise and then got totally stuck and vehicle could not move. It was incredibly difficult to load and especially unload the car from the flatbed truck. My mechanic evaluated the transmission and it was beyond repair and needed to be replaced. Transmission fluid was totally black. Of note, the manufacturer's sticker on the transmission specifically indicated not to change transmission fluid.

I'm writing to make you aware of a serious safety issue with my vehicle. It started awhile ago, I heard a whining noise & hesitation,had Lexus check it out. They said & documented in my profile it was my tire treads. I got the best goodyear tires for that vehicle at the time fortera's. Noise rating I believe is 8 out of 10 (10 being quietest). I let it go & had many more oil changes since then & no mention of any fluids needing to be changed. My car has always been dealer serviced wherever I lived. Past 4yrs been @ thompson Lexus,50 swamp road,doylestown, PA 18902. VIN:[xxx]. I change my oil religiously every 8wks or so (my oil is exceptionally clean like a new engine) nothing was ever said about my fluids. None of my paperwork shows recommendations of any fluids nor were there any verbal recommendations about fluid changes. They did recommend a timing belt which I did but they also stated that I should have my water pump done as well even though nothing is/was wrong with it. So, I did what they said. But things got worse. Usually when I am at a stop light/sign &/or making a left turn from a stopped position & im pulling out into intersection, the rpms tend to go up but my vehicle doesn't accelerate/respond with the pressing of the gas pedal. With this ongoing intermittent acceleration response, im scared but I need the car to get family around. I had another oil change & I told them to change transmission fluid. They advised me the whining was the transmission & Lexus dealership did not recommend that the trans oil to be changed & it is a waste of my $100. I got it verbally & in writing on my service receipt. I believe the issue at hand (based on research) is the transmission & directly related to workmanship (poor design) & also the lack of knowledge, of technicians, to check fluids & recommend changing certain fluids at certain times. Information redacted pursuant to the freedom of information act (foia), 5 u. S. C. 552(b)(6).