What year, make and model is your engine. You need to get the manufacturers recommended fluids for your specific model for Engine and Transmission. Yanmar for example has some transmissions that use ATF while others use regular motor oil. I would recommend for a transmission to use synthetic fluid as the transmission is a closed and clean environment and synthetic fuel is more heat resistant and offers better protection against viscocity breakdown. An added benefit is that you could go years before having to replace the fluid. Always peridically check the fluid level, check for any contamination and check the viscocity. If all is good why replace? On the other hand I would not recommend using synthetic oil for the engine. Because of combustion by-products it is going to get dirty anyways but principally because many have reported developing oil leaks in their engines after switching to synthetic oil.