Advice on gearbox service / oil change

[S8yot]

Had the day off work yesterday so popped into local auto trans specialists who have the same kit as Chester Autos for exchanging the trans fluid. The car - 2001 S8 has 160k on the clock. Service book shows dealer changed fluid at 100k. I hesitate to put it in writing but box works perfectly. Thing is the specialist said that if the fluid was really "distressed" as he called it, he wouldn't suggest changing it as it could result in problems with the friction plates(?) Also didn't seem to think that the filter change was imperative.

Does this advice make sense or do the forum think he is being over cautious and doesn't really want the job?