Agreed you can wait till 100k. There is no interval, but things do begin to accumulate inside the box over time. The proper spec fluid you'll need is 3 liters of G-052-512-A2 (2.4 Liter capacity). It's not as expensive as fluids from the past!
Any liquid lubricant will degrade over time due to heat & oxidation. With manual transaxle fluids, you may also notice degraded shifting characteristics when the fluid reaches the end of its' service life....
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