My own opinion, based on my limited hands on experience is to pump it out by the cooler line and refill the pan when it cavitates, do a pan drop, filter change. Inspect. Continue this method until fresh fluid is being lost. Then top up as necessary. Worked fine in my SUV with 160,000km.
I have had the fortune.... as some would call it, to tear into a few hard use auto trans over the years. Other than some usual dirty fluid I never found any sludge or mysteries inside.
If the transmission is near death, new fluid will not save it. Fluid will not replenish what was lost to physical wear.
my 2c