Debate on this subject has been going on for over 60 years now as whether to flush or not to flush, some claim stuff will get loosened with a flush and give you new problems you never had before. I personally prefer to flush and do it my self.
Worse part is blocking up the vehicle, have cooler lines running up either to the radiator, cooler or in better vehicles, both. Open up any line, but both will have a container. Running the engine at idle in neutral, and even through the gears, lets all that fluid leak out. Would even waste a couple of cans, guess you guys don't remember when it was 25 cents a quart to even flush it out better.
One vehicle I really did a complete flush on was a 72 Ford motorhome with a C-4 AT on it, that fluid would really get dark, but if I had any brains at the time, would have installed an oil cooler on it, did this for my 82 Chevy P-30, now the fluid is staying nice an pinkest.
With older GM vehicles, like my 65 Buick that had a drain on the pan, that was easy, drained and dropped the pan, replaced the filter, don't know why, like a screen door screen, always was clean. But the real tailtale sign was the amount of debris found in the bottom of the pan, should be less than a teaspoon. Would only replace about four quarts and good to go. Zero problems even after 330K miles. In later years, GM dropped the drain plug, that was a mess.
The key factor of the fluid is the color, once it gets dark, time to get it changed. Not only did they dump the drain plug, but the pan as well, easy to check the color of the fluid with the dipstick, what happened to this?
You can check the color of your fluid by one of two ways, either block up all four wheels so the vehicle is level, or park in in level ground and dig a hole so you can get under it. Have to remove the top fill plug, but only do this when the transmission is cold or will lose fluid.
They sure don't make this task easy anymore, but we do have a choice, just leave these things in the showroom, and maybe after 10-15 years or so, would get the idea.