Never to maybe once for the life of the car. Some of the older cars were drained by removing a magnetic plug in the transmission pan and often the service centers conned the owner into letting them drop the pan and change the filters, which invariably caused problems with leakage due to pinched seals, which caused problems with the transmission getting to hot for lack of fluid. "If it ain't broke don't fix it." Just add fluid as needed if ever.
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