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I say to the ATF d&f now and every 30K, it won't hurt. Don't worry about your tranny failing if you don't change the fluid at some kind of reasonable interval; if it were to fail, chances are very good that it won't be because of the fluid. Yeah, Honda trannies haven't had the best reliability track record of late but it doesn't mean that every (or even a high percentage) late model Honda tranny's going to fail; there are lots of them out there with well over 100K that have never had so much as their drain plug removed.
Since 3 qts drains out of my 3.2TL's tranny, I do a d&f with Amsoil ATF every now and then just because it makes me feel better about maintaining my car's tranny. I'm at 80K on it's original tranny and no problems to report... for now
d&f&D! - drain & fill & DRIVE!