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As KALAS recommends. Not necessary to take it to a shop and use a flush machine.
ATF does oxidize and turn color. It is really cheap insurance to change it on a periodic basis. If you are using non-synthetic, you can at least drain what is in the pan and replace with fresh--about every 15,000 miles would be fine.
If your fluid is already dirty/brown/black and/or smells bad, you have a choice.
You can leave it in and hope the transmission lasts until you've saved enough pennies for a new one, or you can change it and know that, should it fail, it was going to do so anyhow. Odds are it will let the tranny keep running.
Personally, I use synthetic ATF because it works better for longer. Once the system is changed to synthetic, you can overkill and change what is in the pan about every 45,000 miles
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