5th Gen Transmission Fluid Replacement

Hello All, over the course of 4 years whilst owning my 2020 Laramie (1500), I've noticed that some days my transmission likes to play nice and ride smooth and on other days it's rough shifting. I looked into what factors could be effecting the transmission- my first thought being a fluid replacement since I'm at 55,000 miles. Upon my research it appears the 5th gen transmissions are lubed with lifetime oil. I have never heard of that before- curious to know if any of yall have A) had similar problems with rough shifting B) have considered a transmission oil change or C) done the transmission oil change either at a dealer or yourself. Any input would be appreciated