^^ +1
A few years ago, I purchased an Infiniti I30 that had transmission fluid that looked liked burnt motor oil. It was the worst I've seen in years. It was shifting crazy also. I figured it would surely fail if I changed the fluid. So one day I decided to remove the plug and just drain the pan. Since I was unsure whether the transmission would fail and the old fluid was so bad, I used Castrol Transmax Multi Import Vehicle fluid. So I drove it and I could tell shifting was starting to improve. I drove it for roughly 200 miles and changed it again. Then another another 200 miles and repeated the process. Basically I wanted to keep from shocking the transmission with something like a quick flush. Bottom line it worked and that was roughly 30,000 miles ago.
There are electric solenoids behind the transmission pan that can be changed without having to remove the transmission.
This is a 91 transmission in the picture but somewhat similar to other RWD Infiniti transmissions with regard to solenoids.