I like to change ATF every 40000-50000 miles. Or sooner, if it gets very dark or smelly. 100000 miles is way too long.
While there is a bit of truth to the don't-change-if-miles-are-high theory (mainly with older ATs), it's not gospel. Depends on the lube and what's being lubed. With modern ATs/ATFs, it shouldn't be a problem.
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