Have a look at the D2 transmission sticky where there is a statement, attributed to ZF regarding 5HP and 6HP boxes. I think that the advice would go for all autoboxes though. See extract below - note the "however"... and the 62k/8yr recommendation for change:
"It has come to our attention there is confusion in the field regarding service intervals and fluid recommendations for ZF 5HP and 6HP applications. ZF has promoted lifetime service for many 5HP and 6HP factory filled transmissions. Lifetime is not clearly defined and each OEM manufacture has there own philosophy. ZF stands behind lifetime recommendation where listed in the vehicle operator’s manual. ZF engineered and tested our fluids to retain its characteristics through normal lifetime operating conditions. However, a spirited driving style, special environmental considerations and other individual driving factors may place higher than normal loads on transmission fluids. To assure proper operation it is advisable to perform a drain and fill at 100,000km/62,000 miles or eight years.
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2002 D2 S8 – Ming Blue, Valcona leather, Vavona wood insert, solar sunroof (to be fitted), Heated rear seats, extended leather pack, 18” Avus, ski hatch, Bose, auto dim rear view mirror, rear blind.
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