I have a 2001 Grand Prix with the same trans.
Here is my history and what I've done.
Bought new.
30k I did a pan drop and filter change with M1 Dex IIIh
60k I did a pan drop and filter change with M1 Dex IIIh
90k I did a UOA, it looked good. Flushed with Dex VI after the pan drop.
120k I did a pan drop and filter change with Dex VI Installed a shift kit to fix occasional hard shifting issue.
150k I did a pan drop and filter change with Dex VI
180k I did a UOA, looked even better than at 90k. I then flushed it with Redline D4 after the pan drop.
Around this time I was getting erratic shifting and torque converter lock-up. It was not better with the D4 and eventually got worse. Changed out the MAF and all is good now with 193k miles.
You get about 8 quarts of fluid out with a pan drop and filter change, a pretty large % of the fluid capacity. I honestly think that 30k interval pan drops and filter changes are adequate. I like to experiment a little which is why I have D4 in there now but I'd just recommend Dex VI of any brand.
My previous car was an older GP a 4T60E (vs a 4T65E) and I did 30k pan drops and filter changes its entire life (212k miles and 13 years when I got rid of it) and all I ever used was name brand Dex III, nothing synthetic. It was a flawless trans the entire time.