I would not hesitate to do a drain and fill with new fluid, regardless of mileage.
For the best results, let the engine/tranny rest overnight. A lot of fluid will drain into the sump. Check and mark the dipstick after jacking up the front end. a sharp edge to create a minuscule mark on the plastic dip stick will work.
Then dump/measure the old fluid. Put the same amount back in. Wait 5 minutes for the dipstick tube to dry a little and measure the level - it should match the mark as before.
Lower the car, start the engine and go for a 5 minute drive. Check for leaks, check the level while the engine is running and hot.
Thank your car for its service and do it again in 6 months or a year.
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Keeping it running is better than buying new
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