I fall in the camp to change it. The whole idea is to change it while it is still bright pink and clean. Wait until the manual suggests or OEM recommendations and it will be oxidized and dirty and at that point any wear and damage is done. This is one of the few times the dealer is right, especially since it is used in “extreme” conditions like towing. When I change fluids in my truck, differentials, transfer case and transmission the fluid coming out looks like the fluid going in. I would change the transmission every 25 K and not wait. Cheap insurance IMO.