Fluid And Filter Changes
Under normal operating conditions, the fluid installed at the factory will provide satisfactory lubrication for the life of the vehicle.Routine fluid and filter changes are not required. However, change the fluid and filter if the fluid becomes contaminated (with water, etc.), or if the transmission is disassembled for any reason.
That's what FCA put in the manual(and all auto mfgs with ZF transmissions), however ZF(the manufacturer or designer depending on application) recommends every 50-75k miles.