All Skyactiv use a paper element that are made by Denso or Filtran for Mazda and are high quality. The 'filled for life' comes from a few things. 1st oems receive CAFE credit if there is not a fluid recommendation because the thought process is the vehicle will put less oil out into the world through its life cycle. 2nd to protect themselves. Transmission warranty claims fall substantially when a 'filled for life' philosophy is adopted by an OEM. The amount of DIY that believe they can do a transmission service correctly is much higher than can actually be accomplished. Using the wrong fluid, witches brew concoctions that 'someone on a forum' said you should really try! Even checking the fluid level correctly, the amount of times people ignore the part about the vehicle being running and at the correct temperature is astounding.
Mazda internal training documents call for service to be done for correct service life, called out in the first attached picture.
I personally recommend a pan drop and filter change at 30k miles. These units shed a good amount of clutch material and the magnet usually has quite a bit as seen in the second picture.