If you are planning to keep it a while - I would. All fluids have a useful life. CVT fluid is no exception (regardless of whether subaru claims it's life of vehicle or not).
One thing I will note, when I had mine done, the dealership does not really change all fluid. They dump the fluid in the sump and replace. If I recall, the CVT holds ~7qt. The dealer can dump and replace about 4qt. There is a more elaborate process that can replace all, but that was not what the subaru dealer did.
In a prior job, I did a bunch of warranty teardown inspections on automatic and CVT transmissions. So the opinion to change the fluid is based on what I saw there. That said, subaru has a pretty solid CVT transmission. Some other OEMs have had big issues.