There is a reminder that shows up on the multi-display (where outside temp, MPG, &c are displayed) and can be set from the same panel. Owner's Manual has more info. Download the manual (and FSM if you plan on doing any work on your Z) if you didn't get one.
Unless I know for sure that PO changed them recently, I replace the engine oil/filter on any used car that I buy. I had all the fluids changed in my '09 at ~23k miles but I tend to be overly cautious about such things.
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