I have heard this over and over concerning transmission but also gear boxes with gear oil; if it hasn't been changed regularly, don't change it now!
I don't know when I'll learn this lesson. My first experience with this was a Cat combine and the gearbox right on the end of the engine, probably had 3000 hours on it, I changed the oil instead of just topping it off and within a few hundred hours the mechanic was asking me in disbelief "you changed the oil?" like that was the whole problem.
I changed the oil in my Mack truck tranny a year ago and thought about this but went ahead anyway. It should be out of the shop today or tomorrow with a new tranny, 10k later.
NO MORE GEAR OIL CHANGES!
I've heard that too for years. Have a friend that has a BG flush machine and he swears by it.
A few years ago, I had a ZF (sealed) trans car with 100k+ miles that was beginning to shift hard... Fluid smelled burned. The argument I followed was- the fluid properties have broken down over the 100k miles, new fluid has improved properties/chemistry to address known issues and restore performance.
So far so good. YMMV.