Yes. It is a good time to consider a drain-and-refill. Personally, I think a complete flush may be overkill at this point
The original spec (circa-2004) for our A750F transmission as originally used in a Tundra was to perform a complete flush / fluid-change every 30,000 miles in "severe service", which included using a roof-top carrier

Or towing. Or city driving. The transmission hasn't changed in the past 20+ years, but Toyota now labels it as "sealed / lifetime fluid". You will be seriously disappointed if you trust this label.
For my 2021 TRD Off Road, I drained about 1/3 of my ATF at 50,000 miles, after some modest travel-trailer-towing, offroading, city-driving over the years, and it was tawny-coloured. (basically remove the drain-plug only, but leave pan attached). It was ready for this partial fluid-change. I refilled using a hose-and-funnel from the engine-compartment, using Red Line D6 (fully synthetic) for the partial re-fill. I'm happy with how it all turned out - shift-quality was restored.
I opted for a drain-and-fill, rather than a complete flush. Firstly, my local dealer wanted C$600 for the flush, and that was over 2x what we did pay them for a flush-and-refill on my 2015 Rav4 with WS fluid. My top-tier Red Line D6 cost me about C$100 for 5quarts (more than enough), in comparison, and the partial-change seemed appropriate given the fluid colour (used, but not seriously degraded) and mileage (80,000km / 50,000miles).
I'm a fan of Red Line products, but there are many other options that seem well-regarded too: Toyota WS fluid (boo!), Valvoline, Amsoil, etc. Toyota WS can serve the purpose, but it's a Group III base (dead-dino), and no-where near the quality (oxidation-resistance, shear-stability, viscosity-index, heat-tolerance, etc) of modern Group IV / Group V synthetics. If you
do change your fluid now, and you continue to do so relatively often, the Toyota WS will be fine and probably more wallet-friendly.