From the owners manual. Severe service is 30k miles for the transmission fluid. My initial drain/fill was at 5k miles and will be again around 15k miles. It is cheap and easy to do and since I am towing a trailer around 3500lbs I figured it can't hurt.
What Are Considered Severe Driving Conditions - A vehicle that is driven for short trips of less than 5–10 mi (8–16 km), driving in temperatures well below or above average, driving in any dusty conditions, idling more than recommended such as in traffic, and driving with a heavy load or while towing a load are considered severe driving conditions. If the vehicle is driven in any of these conditions, follow the severe service maintenance items listed in the scheduled maintenance chart.
Also here is the fill/level check procedure from the service manual.
What Are Considered Severe Driving Conditions - A vehicle that is driven for short trips of less than 5–10 mi (8–16 km), driving in temperatures well below or above average, driving in any dusty conditions, idling more than recommended such as in traffic, and driving with a heavy load or while towing a load are considered severe driving conditions. If the vehicle is driven in any of these conditions, follow the severe service maintenance items listed in the scheduled maintenance chart.
Also here is the fill/level check procedure from the service manual.
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