Actually yes a few years ago when the Skyactiv engine came out..on a different forum I believe. Someone wrote to Mazda with regards to the Lifetime Transmission Fluid. Can't find the actual link to that discussion post but if my memory recalls correctly, the owner received a letter back stating to refer to his local dealership for a recommendation.
Also keep in mind there's a dip stick, drain plug, and service shop manual created by Mazda out there with instructions. Retailers and dealerships like Med Mazda sell the skyactiv ATF fluid, filter, washers, ect. There's reviews of such products on Amazon. There's discussions of this on numerous websites out there. There's pictures and maybe even youtube videos of the process now. Peole have been submitting skyactiv tranny fluid for oil analysis. Nothing new here. Owners and dealerships have been changing skyactiv tranny fluid for years now.
If you think about it the only folks will not change the fluid are those clamoring to the "lifetime fluid" disclaimer. Sorry but I plan on keeping my car past the power train warranty aka 60k miles. The term "lifetime fluid" = warranty period in a court of law. Think about it. If your transmission failed due to the lifetime fluid being worn at 100,000 miles can you sue the car manufacturer? nope. So much for the lifetime term.