When I had my 60,000 mile service done, the dealership insist that I change the transmission fluid, quote: "driving in New York City is considered severe condition." I disagree, and asked them to just inspect the fluid per the maintenance schedule. Turns out the fluid is fine.
The fluid used is synthetic, and they should last a long time, supposedly "lifetime" . The maintenance schedule doesn't ever call for straight up replacement, at 150,000 miles(the end of listed schedule). Many new cars are coming with sealed transmission system and lifetime transmission fluid now, they don't even have a transmission fluid dip stick anymore.
You only replace it at 60,000 mile, then every 30,000 miles, if you primarily drive in desert, dirt roads, or while towing.
Just to be safe, I will replace my transmission fluid along with timing belt, differential fluids, and brake fluids at 90,000 mile.