If you are doing it yourself and know what you are doing, flush.
Or just a do about 3 or so filter changes, one every 2-3k to get everything out. Unless you have had problems or think you are having problems I wouldn't worry about the flush a whole lot.
Depends on the state of the fluid. I've heard similar bad stories. Generally if the fluid is dark or black it indicates the fluid has lost most of it's properties. I've heard people change their fluid then and find to have tranmssion problems latter.
As far as the flush goes you can do a flush yourself but I woulnd't recomened it if you never did it before. There are DIY Transmission flush methods. Much cheaper then the over 100 you spend at the shop.
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