Flushing is fine as long as you don't get it flushed at a shop. The reason for this is a shop uses a pressurized system which may force fluid and debris into places it wouldn't ordinarily go. The easy way to flush at home is to get a few gallons of fluid, disconnect the trans cooler return line at the trans and put it in a drain pan, start the car and pour fresh fluid in as it pumps the old stuff out. Once it starts coming out clean you're good to go for pulling the pan down, changing the filter and filling er back up.