There should be no contaminants or sludge in the transmission. No chemicals additives or flushes are needed ever.
95k miles with a partial fluid drain/refill at 60k and 80k isn't anything to brag about.
Hyundai/Kia autoboxes tend to be weak and do not take 'any' abuse too well. SPIII is also an under-performing ATF. It shears excessively and wear builds up too quickly. And, a warm running tranny will cook it too quickly. NJ drivers tend to be aggressive too.
100k, IMO, is time for a pan drop and filter change, pan inspection for whatever settled on it, magnet cleaning if pan is equipped, filter disassembly....... If all looks OK, then simply button her up, fill 'er up and keep driving. I myself would shorten the drain/refill interval. But, that is for your budget to determine. Once a year or every 10k-15k is what I recommend for the simply drain/refill regimen. 30k for full fluid exchanges. Intervals can be adjusted for upgrades like coolers, filters, fluids......
Since year make model wasn't mentioned, you can research your vehicle at the Hyundai website(factory manual, TSBs... are all free for owners to view). You should also hunt down some vehicle specific forums to see what the common failures are.
I would take Maxlife over SPIII any day. But, not knowing the condition of the vehicle/tranny, the driving style, the... and the fact that everyone wants to blame the fluid for any issue, use the SPIII.