I had my 7AT flushed at 20-something thousand miles - mainly to get rid of any crap from break-in. Probably overkill but it did seem to shift better afterward.
For most DDs, I'd say having the 7AT flushed every 50-75k miles should be fine. More often if you drive hard; less often if you baby it. YMMV (probably as many opinions on this as there are people heehee).
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