On my 04 Tahoe with the 4L60E, I did my first tranny fluid change at about 100K, per the owners manual. Don't go have it done at some jiffy lube place that just sucks up whats in the pan with a machine. I would really consider doing it yourself. Reason being; is that its the only way to ensure most of the fluid gets changed. You'd want to drop the pan and change the filter/seal/pan gasket as well. Comes as a kit in wix, ac delco, and powertorque that i know of, I'm sure every store has their own brands. You'll need to know shallow (flat) or deep (stepped) pan. Then refill the pan with new fluid, remove the return line (top line on coming out of radiator) screw in the appropriate fitting (563953BP Dorman, available at most parts stores), run a hose from the fitting down to a bucket for waste, start the truck and let it pump out about 4 qts, shut off, refill pan with new, start and let it pump out another 4 qts, etc. Continue that until fluid coming out looks like new. On mine I went through about 4 gallons. Whole system capacity is 11.2 qts, so yeah I wasted a little but I was confident that all of my fluid was changed, including whats in the torque converter.
My plan is to continue to do this maintenance every 50K from here on out. Im approaching 150K and my fluid still looks like new.