Your fluid shouldn't be light brown. It should be pink, or at least sorta pink. Long time since it has been changed, maybe never. My wife's was a bit like that, the first time I changed it.
I agree that significant slipping isn't likely to be helped by changing the transmission fluid, but it is relatively cheap to try.
I use the Castrol Multi-vehicle Import fluid.
http://www.autozone.com/motor-oil-and-t ... ckfit=true
I suggest not bothering to drop the pan. Check the level when properly warm and running, drain the fluid out, measure it and put the same amount of new fluid back in. Drive it around a few minutes, and do a second drain/fill. See how it goes.
Not sure whether it applied to the 2002, but the 2001 had a service bulletin to replace the transmission controller (box mounted under dash near hood release) and the solenoid pack (inside transmission) if slipping occurred. The problem was slipping when cool, but not cold or warm. It would be obvious, as the engine would rev up while the speed wasn't much changing. My buddy had a 2001 Pathfinder that did that, but still lasted the 265k miles he had it. My wife's QX4 did that -- I replaced the controller with a part from a wreck, maybe $60 if I recall. and that firmed up the 1-2 shift. Still would slip sometimes from 2-3, typically when ambient temperature was about 50F and she had driven about 1 mile, and trying to accelerate uphill onto the freeway. I told her that I would replace the solenoid pack if she would pay for the part, at $300 or so, but she opted not to. Still working fine at 208k miles, occasional slip under just the right (wrong) conditions.
I don't have any experience with such, but you could consider sending in a sample for used oil analysis. All wear components will likely be high, but it would tell you the percent water, in case you have that type of contamination.
Here is a transmission fluid change write-up:
http://www.nicoclub.com/archives/how-to ... r-qx4.html