You ought to run a severe service schedule, fluids are cheap insurance. Your transmission has a thermostat that causes it to run at or near the same as your water temp, 195 degrees ALL the time. I had my trans fluid analyzed and it had 10K miles of life left in it at 36K miles.
Your front and rear differentials can go longer, the transfer case if you have a 4x4 takes the same fluid as your transmission, cheap insurance to drain and fill it too. We have the same transmission but mine does not have the thermostat so it runs cooler.
Ok, well I decided to just get it all done and over with, the extra warranty is provided by the fluid manufacturer, so it's good anywhere .
After mulling it over, decided that $650-ish was better than wondering if I am going to have any problems, and since I have no desire to do it myself, I let my credit card do the work.
Previously it was a Hertz vehicle, so I don't know if it ever got beat on before 31k miles, so it's peace of mind(my 81 year old mother still rents cars to drive from California to Florida, so impossible to say if it's hard or easy miles on a former rental)
Seems to shift better, and the AC blows harder after that old filter got replaced, other than that, can't tell any difference.
Next step is some new tires, possibly wheels and tires, if I can find someone who immediately swapped out their wheels and tires for aftermarket, after buying new. Or I'll just buy new tires and be done .......