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hello welcome to the site.
the transmission does not need to have the filter serviced until a transmission rebuild.
if the fluid is burnt then most likely their is internal damage.
how long has this been going on ,has the transmission been slipping ?
the transmission will need to be taken apart to replace the filter.
so a rebuild might be in order
ok sounds like a failed transmission.
was the fluid burnt ?
you can try a transmission fluid change and see if this help's.