Thankyou, Gamb1t. Your mention of the pan prompted me to search for what the pan is, leading me to the zf provided video for doing this procedure on the 6AT
It was pretty helpful to see the video. They recommend the drain, fill and pan/filter replacement every 50k - 75k miles, or about every 8 years.
For a 2015 with 60k miles, I caught it at a pretty good time. I asked about this last time I was at the dealership, and they said it's lifetime, I don't need to do anything, and they don't really see people with transmission issues. I guess that's good news, but I'd rather follow ZF's maintenance recommendations.