Transmission filter change

Not sure if 06 and 02 are the same, but there is not an accessible filter to change in the '02. I change the transmission fluid myself and do it every 25-30,000 miles using the haynes/chilton technique. Essentially, flush, refill 1 quart at a time and run the shifter through its paces until full, then drain again, refill 1 quart at a time and run the shifter through its paces until full. It costs more, but it keeps the fluid pink and I have not had any transmission issues after 155,000 miles. I've read horror stories from people that take it to a shop and have the transmission fail within a week because they put in the wrong fluid or they didn't flush the transmission fluid enough to get it clean.