Auto-transmission fluid change?

Have 2004 Forester, auto-transmission with 60k miles. Regular driving, no severe conditions. When should the A/T fluid be changed?
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My 2008 is like yours, with all easy driving, but only approaching the major 30K service. I will probably resist any suggestion by the dealer to change the fluid. But I will be ready at 60K.
One of my dealer service writers told me that Subarus that do not have their fluid changed for 100K usually come in with transmission problems.
Note that the automatic transmission holds about 10 quarts of fluid, of which only 3.75 quarts will drain out when the plug is removed. To change the fluid, the transmission must be connected to a double-chambered tank, and run in neutral so its internal pump pushes all the old fluid out and the new fluid in. Such a change is called a flush, and costs almost $200.