I’ve always believed in changing transmission fluid.
The “sealed for life” comes from manufacturer warranty experience, in which the primary causes of failure in modern transmissions were identified as shop rag lint and RTV debris.
In other words - sloppy mechanics killed them.
This comes from my BIL, a power train engineer with GM, who works on transmissions.
So, the manufacturers removed the service interval, reckoning that old fluid without transmission-killing debris is better than fresh fluid with.
That said, the fine print in most owners manuals says that for police, taxi, or towing, there is a specified fluid change interval. E.G. the 2002 Volvo owners manual states that the fluid is “for life” and then, in the next paragraph, states that if the vehicle is used for police, or taxi service, the fluid should be changed at 52,500 miles (oil change is at 7,500, so this odd number is a multiple of those intervals).
That transmission, by the way, is an Aisin.
Further, even the sealed transmissions like Toyota, or Volvo, can be serviced relatively easily via a cooler line fluid exchange.
So change it. If it’s been neglected, change it, and change it again soon.
As long as the fluid meets the JWS spec for your Aisin, you’re fine. My Tundra is running AMSOIL, my Volvos have AMSOIL, Valvoline, and Mobil in them.
They all shift great.