95 trans info

95 4.0v8-135,000 miles
Trans fluid never changed. It looks clean...
Trans works good, no complaints. Just wanted to do some preventive maint if needed..

My question is..

Should the trans fluid be changed?

If so, by what method.. Pump it out & re-fill
or
drop pan and change filter also??

Thanks..

No flush at this mileage, just a regular pan and filter change.

I have a 1995 Aurora and the transmission slips, fluid shows nothing on cold dipstick but is bubbling when hot. Has 200,000 miles should I change filter and fluid?