Hello and welcome back,
I would say that unless it is having shifting issues right now, then yes it is a good idea to have the fluid and filter changed. If it was giving any trouble, then i would say to not change it because sometimes it makes things actually worse. It usually turns brown from heat build up inside the transmission and changing it on a schedule is always a good idea.
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That could be caused from a restricted filter inside the trans. Just make sure they change it as well as the fluid. (they normally do) and it may very well take care of it. If not, then pressure testing internally in the trans will need to be performed, but the fluid and filter must be changed first.