The general advice here is change the ATF at or before 60K miles and repeat at 120K, 180K etc. which worked for me when I had a D3.
In your case if you are pretty sure it has never been changed, I wouldn't touch it as you may do more harm than good. Lots of Auto's pack up after a fluid change late in life.
I would check the ATF is at the correct level and then leave it be and budget for a rebuild or good used box if you intend keeping the car for the long haul.
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