Have someone look to see if there is a dipstick for the transmission. Manufacturers started eliminating them from vehicles around the time your vehicle was made. If you have a dipstick, then you can check the fluid for yourself.
Just pull out the dipstick and look at the color of the ATF on the end. If it is bright red, it is good and has probably been changed in the not to distant past. If it is light pink to almost clear, it is getting near the end of its life and should be changed, but it isn’t urgent yet.
If it is brown, then the urgency increases, the darker brown it is, the greater the urgency, but not to panic yet. If it is black, then it is time to panic, almost panic anyway. Find a trusted mechanic or go to a dealer and get it changed. The dealer will use the correct ATF. Independent mechanics may need you to go tot he dealer and buy the ATF if they can’t get it themselves. Do not let them put in a universal ATF with additives.
Do not go to a chain store to get this done. They always use a universal ATF with additives and that will shorten the life of the transmission, especially if your transmission calls for a synthetic ATF.
One more thing to consider is whether to have the ATF flushed or not. If the fluid is still in the pink category, I don’t think that is necessary. A simple drain and fill will be sufficient. AS you get into the brown to black colored fluids, a flush becomes a better idea. A very light brown can be OK with two drain and refills with some run time in between.
Darker brown to black, it is best if the shop drops the pan, cleans it out, drops and cleans out the filter (or replace but yours is OK to just clean, it is a fine mesh stainless steel screen). Then they replace the pan and fill the transmission back up with fresh ATF. Now the pan will be clean but there will be about an equal amount of old ATF in the body and torque converter. They can hook up the fluid exchange machine and flush out the rest of the ATF getting it all.
I do not recommend getting the flush without dropping the pan first. Despite their claims, the fluid exchange (flush) machines do NOT get out all the old ATF if the pan was not dropped first. But if the ATF is in hte light brown stage, you can do just the flush instead of the two back to back drain and fills.