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These transmission are very well built. One of the best transmissions on the market. But i would honestly follow the manufacturers recommendation to service it at 50k miles. BMW just doesn't want to spend extra money on its maintenance program. Lifetime fluid for BMW is 100k. After that, if it breaks down, it lived up to its "expected" life expectancy.
I'm not here to tell you what to do, it is your car, but if I was in your shoes I would service the transmission. Replace the pan, fill with new fluid following the correct procedures and then drain and refill with more fresh ZF fluid after 5k miles to get as much of the old fluid out.
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