Where is the transmission filter located?

The short answer is no it does not need to be replaced. Take a look at the process below for checking and adjusting the fluid and it states this but basically you only deal with the fluid when there is an issue.

Here is a guide that may help others that visit this page for tips on servicing the unit:

https://www.2carpros.com/articles/how-to-service-an-automatic-transmission

However, your 6 speed does not require any maintenance unless it is used for severe duty like a taxi or delivery vehicle. Driving for Uber would not qualify for this yeah unless you are driving all day everyday like a traditional taxi does.

Please run through this and let me know if you have other questions.

Thanks