Hey Scotty I have recently replaced the ATF on a '96 Camry. It's the V6 engine. I only drained and…

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Hey Scotty
I have recently replaced the ATF on a '96 Camry. It's the V6 engine. I only drained and refilled what came out of the pan, since the fluid seemed fairily old (but certainly not too old). Everything was perfectly fine after.
The car has 197k miles on it.
My question is, how often do you recommend a drain and refill for such a car in order to keep the transmission healthy?
Thanks!