Transmission Failure After Fluid Change?

Like many here I took the dealer's word for it an have not changed the "lifetime" transmission fluid in my 2016 CX-5 GT. I'm at 104K and have decided I want to start doing the right thing and start changing the fluid. I have heard that if you don't do it by 80K you might end up with issues if you change it. My dealer makes you sign a waiver if you have them do a fluid change. Has anyone heard of a failure that has occurred as a result of doing a fluid change at just over 100K? If you know of an actual SkyActive transmission failure after a fluid change I'd like to hear about it.

My plan is to take it cautiously and do a simple drain and fill, then drive it a few thousand miles to see if anything goes wrong. Then probably do another drain and fill, then a few thousand more miles drain and fill, replace the filter and clean the magnet. 3 steps spaced out by some miles. From then on I'll probably just drain and fill every 30K for good measure. I figure leaving some old fluid in the system will be less of a shock to the transmission. Let me know if this seems like a reasonable (if overly cautious) approach. For my Honda's I have always done a 3x drain and fill all at one time, not knowing what previous owners may have done. It never occurred to be the transmission might fail.
 
Transmission failure after ATF change is usually due to flushing the AT.
Your plan sounds good to me. Just make sure they do drain-n-refill only (no flushing), and use correct fluid. Ask them to clean the pan and don't over/under fill fluid.
 
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