How frequently does the automatic transmission fluid need to be changed?

[Hamster]

Thanks 06YarisRS! Sounds as simple as an oil change, minus the jacking up. I've always done my own oil changes. So if some maintenance item is a simple as a drain and refill, I am confident that I can do it.

With such low mileage on my car and very clean looking ATF, will a simple drain and refill be sufficient for keeping my transmission in top condition? Previous replies discussed dropping the pan, replacing the filter, etc. Is that only necessary if the the car has problems, or if the ATF was neglected and comes out brown and dirty? Just wondering.