Well, there's an alternative to doing it the "normal" way of dropping the pan and changing it along with the filter.
You take the cooling lines off the bottom of your radiator. Have someone turn the engine over for just a second until you see fluid spurt out one of the lines.
Put that line in an empty bucket good for holding petroleum products.
Put the other line in a rather LARGE bucket full of fresh fluid. Make sure it can reach the very bottom.
Have an assistant start the car and watch VERY carefully the level in the fresh fluid bucket. Run it like that until you get clear, clean fluid coming out to the (originally) empty bucket, being sure not to let the (originally) full bucket run completely empty.
When you've got clear fluid coming out of the cooling lines, you've completely flushed your transmission fluid system. This won't help the filter at all, but it is the ONLY way to get 100% of the fluid changed.
The "normal" way is to undo the between 10 and 16 bolts on the underside pan on the bottom of the transmission, leaving the two at the high end only loose so you can tilt the pan to let all the fluid drain out, then remove those two last bolts. Remove the two or three (depending on transmission make and model) machine screws holding the filter in (normally this involves a T-15 Torx bit) and remove the filter and its gasket. Put new gasket in, new filter in, screw it back in, then bolt the pan back on after giving it a good wipe out with a clean rag. Then add 2 litres of fresh fluid, fire the car up and check the fluid levels, adding more fluid as necessary to bring it up to the correct point on the dipstick.
The disadvantage of doing it that way is you don't get the old fluid out of the torque converter. The best method is to do a combination of the two, changing the filter first, then doing the fluid flush.
I can't really see a manufacturer even suggesting that an automatic transmission can go the life of the car without a fluid and filter change. It just doesn't seem possible considering there's MANY bimmers out there with 200,000+ miles on them and still going strong. But then again, I've been out of the mechanic's loop for about 10 years now, so anything's possible.....