Well I changed the fluid today.
Tranny fluid was dirty at only 50k miles. I highly recommed people to fully flush their transmissions as these can go 200k miles easily when maintained well.
I even dropped the pan. Pan is very easy to remove so I cleaned up all the magnets on the bottom inside the pan. You can see the little magnets in the pics. They collect tiny metal debris. Magnets had a very small film on them. This means transmission is healthy.
I used a IR gun to get the temp. I drove for 10 miles and took the pan temperature before changing the fluid. It was 42C. After changing the fluid I let it idle for 20 minutes and temp reached 41.8c and I called that good.
I measured the old fluid precisely and put in the same amount of new fluid back in.
I'm anal so I might buy a the scan guage just to read the transmission temps and check the level again.