The only way for you to know is via the service history.
You'll need STAR in order to check on the car what was done to it.
If your 2016 car has the 7g+ transmission, then it should have been done at 5 years, I.e. in 2021.
The service history is important, because the service plan will not cover any 'catch up' items - I.e., if the ATF wasn't done on time beforehand, then the service plan won't cover it. It will only cover items that fall due durating the lifespan of the plan, but not items that were missed before.