Should I change the transmission fluid?

Hey so I’ve got a 2001 Ford Escape V6 XLT V6. The car used to be my mom’s then she gave it to me my senior year of high school. I graduated in 2015 and the car is still going with almost 220,000 miles. I don’t know if the car has ever had the transmission changed or not. I remember her taking it to a transmission... show more Hey so I’ve got a 2001 Ford Escape V6 XLT V6. The car used to be my mom’s then she gave it to me my senior year of high school. I graduated in 2015 and the car is still going with almost 220,000 miles. I don’t know if the car has ever had the transmission changed or not. I remember her taking it to a transmission specialist but I don’t know what was done and neither does she. I’m starting a new job this week and I’d like to change the fluids and any filters, I typically change the oil every other month, Fill the coolant, and change the oil/fuel filters every few months. But the trans fluid I typically don’t mess with because I remember reading that changing it can cause damage. What is the difference between the flush and a change? The fluid is brown which means it’s burnt. Should I drain it and fill it back up?
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