As you discovered through your search, there is no scheduled replacement interval for the manual transmission fluid. I'm personally not a very big 'lifetime fluid' proponent, so I replace mine occasionally. 30,000 miles for a manual transmission fluid replacement is a very conservative change interval. You could almost certainly run longer if you wish, though.
I have a manual transmission-specific fluid in mine, and somewhere around 30k is about right for replacement of it. However, that's not based on wear rates or durability, it's because the 'stuff' in this fluid that helps the transmission shift nicely is about worn out at that point. So, shift quality will start to taper off if I don't replace it.
This is not an issue with the factory stuff, nor with what most people (including your dealer) will replace the factory fluid with. All of that is just a plain-jane gear oil, so it's not designed for buttery shifting and that means those additives won't wear out on you ('cause they're not there).