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What does the fluid look like? Is it red/pink, brown, or black? Does it smell burned?
If the fluid looks reasonably good, no need to hesitate. If it is really bad looking, then one of two things will happen:
1. New fluid will work just fine, and the transmission will in all probability last much longer.
2. The transmission will fail soon--which it was probably going to do anyhow.
Were it mine, I'd change what is in the pan, and drive a while. If all is ok, I'd repeat the procedure a couple more times. If all is still good, I'd change to synthetic ATF, either all at once or with another 3-4 changes.
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