CX-7 Transmission fluid change…Should I?

I have a 2010 Mazda CX 7 2.3 L. Presently I dont have any issue with my car. Doing change oil every 5,000 km. It has been great. However, it's mileage now is 160,000 km and Im not sure if I need to change the transmission oil. I recently checked the fluid level and it's still in a good amount of fluid. Im just trying to be pro active. Do I have to change the fluid even I dint have any issue in my transmission?
 
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