There has been many threads on this.
Short answer is NO. There is no maintenance schedule on transmission fluid change.
It is supposed to be "life-time" fluid. i.e. change if something feels wrong.....
However, I was burnt by that "life-time" concept on a BMW before. I will never believe it again.
I did mine on 30K schedule if flushing it. 30K/45K/60K/... if drain and refill.
Dealers charge between $120-$150 for flushing it. Just FYI.
Some might call this a waste of hard earned money. Therefore, it is really your call.
I am sure the transmission can last 60K w/o changing the fluid.
What happens after that is on you.