According to factory recommendations, vehicles will need their auto transmission fluid changed about every 25,000 miles, though some will specify a longer interval. Driving conditions may also require more frequent changing.
Checking the fluid regularly will usually show if there has been substantial fluid degradation. I purchased my PC used. With thirteen years since new and ten thousand miles, I had the transmission fluid drained, new filters (internal and secondary) replaced. I check regularly during periods of use. Fluid looks clear and uncontaminated.