What Mazda means by lifetime i supposed is 100,000 km. But since the car is 9 years already ill just change it and from there change every 40,000km like how it used to be in the old days. I doubt there are any transmission with actual lifetime oil. To be safe just change at intervals.

what the mileage on the car now?

260,000 km is way over for fluid change

Not to give you false hope, if long time no change AT gear oil you might in surprise after change new AT oil. Due to long term of oil degration & wear & tear, the gearbox internal already suit with the dirty, thicken up AT oil. There will be possibility of even worse gearbox feel after change of fresh AT oil. So be prepare, 50:50 chance of getting it as i already seen a lot of case at my mechanic shop due to neglected oil change. Mazda skyactive a lot of owners 50~60k all go out change the AT oil themself and already feedback very dark, dirty AT oil.