I have 31,000 miles on my 2006 (purchased May 2005). I have never had this truck in the shop except twice - once for the computer coded tranny fix specified in a service bulletin and once because I had a coupon for a $10 tire rotation. Other than that ten bucks and money for fluids and parts, I have never opened my wallet at a service shop.
I follow the maintenance minder mostly and have saved a whole bunch of money doing so. Heck, I've even heard of some Honda dealers telling people to come in every 3000 miles for an oil change! I rotate my own tires (unless I get a coupon like the one above), change my own oil and filters, including cabin and air filters and I did the VTM fluid change at around 20,000 miles. Other than that, I've done nothing to the truck. Nor should I have since it only has 30,000 miles on it. But if you take it to the dealer each and every time you will have spent a small fortune by the time 30,000 miles rolls along.
Today I decided to change the transmission fluid. I have about 7 or 8 qts. of the Honda ATF and a couple crush washers for the drain plug and fill bolt. I know I don't have to do this at this time but I will have had the truck four years in May and since it is so simple, why not? I won't keep the truck more than 50,000 miles so I probably could skip the tranny fluid change entirely but it is as easy as changing the oil and certainly can't hurt anything. I think four years/30,000 miles is a good guide post for a transmission change even though it may be a little premature per the MM.
I will do the flush twice, filling with new fluid the exact amount I take out. I'll drive the vehicle around the block a couple times making sure I go through all the gears. The third "flush" will be in a couple months when I figure the MM will tell me to change oil. The three flush method, (replacing a third of the fluid each time) is far more than Honda requires or will do if you take to the dealer for this service. Plus, I can almost guarantee you they will not use new crush washers, at least not for the fill plug. I know because I tried to two dealers before I found one that even carried a fill plug crush washer.
So don't shy away from doing a transmission fluid job any time you feel like it, in fact, I'm sorta looking forward to it. Here is a link with some good information for you to use:
My A136 maintenance experience