There would be no warranty after 10 years!!
I had a 97 C230 with the filled for life tranny, talked to my dealer and they refused to change the fluid, talked to my indy and he said better off leaving it alone, put 250,000 miles on the car before it was totalled in a rear ender, never had a problem with the trans, shifted like the day I bought it.
Lots of post about changing the fluid and not changing the fluid you decide

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'05 Ford Escape 100,000 miles
'87 560SL 92000 miles
'89 300TE 199,000 miles
'02 Audi TT 100,000 miles
'00 Ford Excursion V-10 121000 miles
'92 Mercury Capri 100000 miles
'02 BMW 325XI 60000 miles
'92 230CE 160000
'87 BMW 535SI 160,000 miles
'93 Rinker Captiva 209
5 Kids
2 Dogs
1 Wife