Probably wouldn't hurt to do so you have a starting point for further maintnance down the road. Trans fluid should be bright pink, and not have a burnt smell at all. Brown is burnt, will have an accompanying smell with it as well.
On a second note, whoever told you that you shouldn't change it based soley on the fact your having no issues should recieve a drop kick to the face, it's called PREVENTIVE maintnance, for a reason.
Now if you were talking about a car like my 91 6000LE, 190k and looks like the fluid has NEVER been changed, it's brown / black, only god himself knows how long it's been in there, it's slow into 1st then shifts like a dream... THOSE are the one's you don't dick with. If I were to put fresh fluid in my 6000, the tranny would likely come unglued as you turned the key. I don't care I gave 260$ for the car and have put over 25k on it in the last 6-8 months ( since I've had it, don't remember exactly when I bought it, and yes I bought it this way ), other then the fact it's missing #3, and it ripped a tire on SOMETHING this morning, it runs like a bat outta hell, and still gets 300+ miles a tank.