I changed the ATF in our '08 BMW at about 70k miles. The stuff drained was pretty nasty, but I know you can't judge much on color. I replaced the mechatronic sleeve and pan/filter. Reset the adaptations and called it a day. About 20k miles later, it is still shifting better than it was before the change.
For our 6HP series, BMW says filled for life, ZF says:
ZF automatic transmissions are filled with specially developed semi-synthetic oils.
At very high operating temperatures, the oil ages faster than under normal conditions. Examples:
Many trips at high speeds.
Many trips with a trailer in tow.
Sporty driving.
Depending on the driving style, ZF therefore recommends a transmission oil change every 80 000 to 120 000 km, or after 8 years at the latest.