It depends on how you use your truck. First thing I installed on my truck is a transmission temp gage, which is standard equipment on Chevy's and maybe Fords.
Should be standard on Dodge heavy duty trucks as as well. There are quite few posts on a search of "transmission temp". At 175 degrees the ATF+4 synthetic fluid is good for 100,000 miles. At 240 its toast after a few thousand miles. The light-duty interval in the manual is 100,000 miles. The heavy duty interval is, I believe, 60,000 miles. Some people change/flush at 30,000 miles. Others dump and refill (no flush). As long as my oil stays below 180 or so I'll flush and fill at 60,000 miles. I do recommend a transmission temp gage if you have not already installed one. I change the ATF+4 in the xfer case when I change my diffs at 20-30,000 miles (dependent on how much towing I'm doing) . It's not necessary, but it's easy.