Like Bill, I have not changed this fluid in my last two motorhomes, but I did change the filter several times on my first motorhome over a 10 year period. After 5 years of ownership of the current RV I do have the fluid change on my list for this winter. The fluid by color, feel, smell seem to be good but I feel in the scheme of things maybe once in 5 years to do a fluid and filter change would be reasonable prevention and cannot hurt. You could possibly have it analyzed to make the call. This 5 year interval is just opinion derived based on "I ought to change it sometime". I have not heard of any fluid analysis results.
As far as the tank capacity, measure the length, the width, and the height to the fill level of the tank in inches (usually a sight glass). Multiply LXWXH together to get cubic inches. Multiply the cubic inches by .004329 to get gallons.
I just read the 18 months, 15K miles in Fred's post regarding the manual as well as Dave's post. That seems conservative to me. I do not think this fluid gets hot enough to cause it to break down like in a transmission. I have not IR gunned the tank after running, anyone know how hot this fluid runs, that would provide some insight.
Later Ed