I would get it flushed, then go for a bit, drop the pan, and change the filter.
In 12/2006 I bought a 2000 F250, with 98k, as a work truck, to haul a 7000# work trailer around natural gas wells in SE KY. I had Jiffy L-ube (can't believe that this was censored!) flush it, with the old fluid looking like chocolate milk. Had it done again 10k later. After 20k, had the pan dropped and filter changed. Then went to 15k flushes. The drained fluid got closer to red each time it was done.
Sold the truck in 12/2013, with 222k miles. Still original trans, shifting strong. Don't believe the "old mechanic's tales" about flushing the trans. Those are the same people that will tell you to never flush your brake fluid or power steering fluid either!