I had trucks in the 1960's and if they lasted for 100k miles it was noteworthy. Now I keep trucks for 170K miles and expect them to last for 200k or more as a common occurence. There are Toyota clubs for people with more than 200K and there are people with trucks with the original engine and transmission with 500k miles on the odometer. Engine alloys and designs and lubricants have improved a lot over the last half century.
I treat towing as "severe duty" and adjust my truck's service intervals accordingly. The Allison transmission gets new TES 295 fluid and external filter every 4 years unless indicated sooner by the prognostics. If I was using TES 389 I would be changing based on the prognostics or at least every 2 years. I use the Allison recommended TES 295 ATF as it would be foolish to use anything else and hope that it did not cause problems with the seals and lead to an expensive repair.
Allison approves 9 different ATF in this class and the easiest to find are the Castrol TranSynd, Exxon Mobile Delvac Synthetic, and Shell Spirax S6 ATF 295. I pay the premium for this class of ATF to go the extra 2 years before changing the fluid. It is good for 150K miles so I hit the 4-year mark before the mileage figure with this truck.
With my gas powered vehicles the usual fluid change and internal filter change is every 100k miles and that has worked fine for me for decades. Every person I have heard of with trans problems has never changed the fluid for as long as they owned the vehicle and would have a lot more than 100k miles at the time the trans started showing problems.