The fluid level at the check plug is VERY sensitive to how level the vehicle is. The VX should be perfectly level when checking. If you have to bias it in a certain direction, go slightly nose down.

Yes, I'd say you should drain & refill if it's dirty. Don't cycle through the gears without any fluid in it though to try and get every drop out. Just pull the drain then plug it back off whenever it stops coming out. Refill till it's seeping out of the fill port. Then & only then should you cycle through the gears to make sure the fluid is properly distributed. Then top it off again if needed.