Checking is free and easy. Just pull out the transmission dipstick while the engine is running and the transmission is in neutral. Wipe it off, and put it back in. Pull it out and look at the end to see if the level is correct. Do this after the van has been run for at least 30 minutes. Then smell the transmission fluid. If it smells burned, then have it changed. If it is a dark brownish color, it needs to be changed. Depending on the mileage, and whether it is synthetic or dino based, determines the change interval. If dino, I would change at least every 35,000 miles including the filter. If synthetic, check with the owners manual. Changing fluid is a cheap way to preserve the transmission. Driving sensibly is the other way.