I would suck out a couple of quarts at a time for the next couple of oil changes with an oil extractor, till the fluid looks better. Then drop the pan and do the filter.
Its not superstition. Its from past experience. Trannys with old burnt fluid do better with a slower replacement of the fluid, and then a new filter, versus shock of new fluid and a filter.
And NEVER NEVER NEVER do a fluid flush on an old tranny.