I would get it checked as soon as you can. The message is confusing, when you see "Transmission Service" it usually means there's been something wrong rather then it needs scheduled maintenance. It could be that the fluid is old and has been overheated too many times, but if that was the case the message would persist.
Some conditions that can cause the message would progressively damage the gearbox, so best to get it checked.
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2011 XC90 D5 Executive
2003 C70 T5 GT
2012 Ford Ranger XL SC
1977 Triumph Spitfire 1500
1976 Massey Ferguson 135
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