Nope! I come from the "don't fix it, if it aint broken club". I should qualify that by saying that I did replace the fluid immediately after I bought her with Mobil 1 Synthetic ATF. Same with my differencials. I do change the engine oil (Mobil 1 also) and filter every 4K miles. Heat and abuse kills a tranny, so can running it low on fluid. Its a closed system so no outside contaminents are introduced. If it gets hot the oil is designed to change color and will stink! Then a good idea to R&R the fluid but the damage has probably been done anyway by that time. Auto tranny's, engines, and people do wear out, it is going happen someday but I have to smile at the ole gal every morning for her faithful service...so when she breaks I will fix her.
BTW, I owned an Aamco Transmission shop in Huntington Park, Ca. from 1969 to 1974 when I sold it and got into the car wash biz. That is one messy oily business...