A lot of people think of a transmission flush as a procedure that uses the coolant lines to pump fresh fluid in. These guys use the dipstick plug on a Ford 10r80 to make the swap. IIRC they say they use 16 quarts of fluid to drain and replace repeatedly and eliminate as much dirty fluid as possible.
Years ago I had a BMW 540i with the zF 5hp30 transmission -- a robust but somewhat troublesome unit that had one of the earliest gradual-engagement torque converter clutches. When I bought it at 80k miles the TC hunted in and out of lockup and occasionally went into limp mode. I did a pan drop, replaced fluid and filter, and the hunting went away -- but occasional torque converter chatter persisted. I did another spill-and-fill and added Lubegard's Shudder Fix (originally called "Dr. Tranny's Instant Shudder Fixx") and the shudder was gone. For 30k miles. From then on, whenever I got a hint of shudder, I considered it a signal to refresh the fluid and add some Lubegard. I had the original transmission when I got rid of the car at 300k miles. I found a TSB that indicated the shudder was a problem from New in some 5hp30s, BTW.
Anyway, the Royalty guy makes a pretty good argument for a flush or total fluid exchange.