i would say change it. Now if the fluid is really nasty and black and theres lots of sludge in the pan, thoroughly clean the pan and the magnet, change fluid and filter and refil trans, now since ATF is acts like a detergent and cleans things, you may end up with tranny probs in a week or 2, but not to worry this is cuased by the new fluid cleaning the inside of your tranny and the now dislogded dirt and crud clogging the filter. Drop the pan and change the filter and fluid again and you should have no adverse affects.
I had always heard the myth about once you have lots of miles on a trans to leave it alone, but i am currently taking Automatics trannies and transaxles in school and after getting into them i now understand why its not true. My prof also was a vast aount of knowledge and a great deal of experience in the feild and have yet to see him lead us in the wrong direction
hope that helps
Jon