I agree with @bcredliner that it isn't lifetime. For ZF transmissions they claim six years on their site. My ATF looked new at 15.5 years, but it had about 40k miles then. So, his transmission shop's recommendation of 100k miles may be more relevant. I've seen others here recommend 60k.

My shifting problems and limp mode when cold were due to low ATF level as a result of a leak from the Mechatronic sleeve. A common problem, the o-rings were worn out, especially in a dry climate.

We did three drain / refills with Valvoline MaxLife red. I bought a Foxwell 620 Pro scanner specifically for this procedure. It's essential to have the ATF temperature correct when refilling to get the right amount of fluid in the vehicle. Also, essential, at least on some models, to start the engine and top the level off again after the ATF circulates. This is documented in other threads.

My transmission shifts like new with the MaxLife. Granted, I've only put on about 2.5k miles in the almost 2.5 years since the procedure.