There is a common myth that performing a flush on a high-mileage transmission without previous service can kill it. This is perpetuated by vehicle owners who begin to experience transmission failures such as slipping and harsh shifting and have never serviced the transmission previously. Thinking a complete fluid change (aka a flush) might fix everything, they have one performed. The transmission dies a week later, because the transmission was on its death bed already due to neglected maintenance; the flush is then blamed for the transmission's death instead of the owner's neglect.
Anyways, the answer is
yes, change the fluid, especially if it is brown on the dipstick and smells burnt. I would do so gently, however, with a pan drop to examine the magnet at the bottom of the transmission pan for significant debris and to change the in-pan filter/strainer (which is more like a rock catcher than a filter - even the best in-pan filters do not filter below 80 microns), then with several drain and fills of the fluid with a few weeks worth of driving in between to exchange the vast majority of the old fluid.
Installation of a
Magnefine in-line transmission filter on the transmission cooler return line is also highly recommended. The Magnefine contains a very strong magnet to catch all ferrous wear material, and filtering media in the range of 35 microns to catch anything non-ferrous. Install one on the power steering return line too to significantly prolong the usable life of the power steering fluid. A 3/8" Magnefine will fit both the transmission and power steering hoses. See a Magnefine filter in use for 23,000 miles opened
here. The transmission cooler return line is located on the passenger side, and the power steering return hose is connected to the tube on the side of the power steering fluid reservior.