I'm beginning to think ATF changes are largely over rated. My moms Rav4 and my sisters Corolla are both low mileage vehicles but will never be touched until trade in.
My buddies two 722.6 transmissions have only had one fluid change and are both used to tow, one has 100k on it the other 240k and both are strong. The 240k one towed extensively.
Marine gear boxes like my twin disc hardly ever call for fluid changes.
GM calls for 100k on their trucks and vans and that's mostly ignored. It doesn't seem to affect the failure rate either way.
I think Mercedes might have the right idea, change it once when its fairly new, and never again until something mechanical fails and its rebuild time. That's kind of what I'm doing with my truck, I did it twice, last at 90k and I have no plans to do it again. For what it cost me to pay a shop to change it every say 30k I'll be pretty close to the cost of a rebuild, more so if I bet it won't fail until I sell it. My next truck I never plan on changing any drive line fluids.