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+1 to performing the Service per ZF recommendations regardless of mileage.
I'm personally not a believer in "It's too late to change the fluid now" thought process.
I'd recommend replacing your mechtronic sleeve while you're at it (as PM).
Also, consider doing a "dump & fill" w/ new fluid first - then a couple hundred miles later doing the full service pan/filter replacement procedure. This will get you about 85% New Oil in your system.
-Attached is ZF Service Info for 8HP Transmission (for those that haven't seen it before)
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