While the manufacturer will say that the transmission is 'filled for life' and that might be true if you only want to keep a vehicle for a couple of years, most good mechanics and transmission guys will tell you to do a full service every two years maximum. I have a mate who works as a mechanic at a Jeep service centre and he recommends a service every 50000kms. I do mine myself every 40000kms; and it's not hard, but can be messy. The things you need: ATF+4 fluid, at least 7 litres are needed for a filter service (You or your service guy must use ATF+4 - don't let them put anything else in your transmission), a pan filter, spin on cooler line return filter, and an anti-drainback valve. If you put a transmission drain bung into the pan when you do the first service then it is easy to do from there on. If you get a transmission shop to do it for you ask them to put a drain bung in for you. I'd also suggest putting in a transmission temperature gauge sensor and gauge so that you can always see how hot the fluid is. I used the Prosport gauge and sensor but there are heaps of them around. (Note, if you install two sensors through a toggle switch to the gauge then you can look at both the hot pan temp and the cooler fluid as it returns from the coolers - this tells you how effective your cooling is working).
Heat is the number one enemy of auto transmissions, and if you tow regularly you need to do some things to keep the temperatures as low as possible: fit another auxiliary transmission cooler and as said a transmission temperature gauge, give it regular services. An electronic transmission temperature sensor is built into the transmission (TPS) but you need a ODBII bus connection to read it, it mainly sends the temp info to the processors (TCM, etc). There are a number of good graphs around on the Net that show the relationship between heat and transmission longevity, basically if you can keep it below 170F it should last a long long time; above that varnishes get layed down, seals degrade, and clutch material breaks down.
There are several threads in the KJ forum section on the 545RFE transmission and servicing it. I wrote up one complete with photos a could of years ago.
Here is a link:
http://www.ausjeepoffroad.com/forum/...rvicing+545RFE