ATF shouldn't be too dark a red. Do the white paper towel test.
Don't know where you are (need to complete you information) but adding an ATF cooler will certainly help in most locations as the OEM ATF heat exchanger is a joke.
Standard practice for a new owner, especially in your situation, is to change all filters and fluids so one knows where one stands. This would include a mechanical ATF fluid exchange, pan drop and clean along with the plug, internal filter screen replacement, and new bolts and gasket courtesy of
http://www.everythinginfiniti.com .