I knew about the 200,000 mile mark, but it's cheap insurance. The filter is on the bottom inside at the def tank. Easy to change, not much fluid leaked out during the process. There is a metal cover with 4 9/16 inch bolts and the cover comes right off. The filter has a cover which takes a 1 1/16 inch socket.
My filter came with a tool to remove the filter. Wouldn't budge so it popped right out with my pliers. A little oil on the O-Rings and everything went back together with no leaks.
DYNAMAX 2016 FORCE HD