I did a double fluid and filter change in one month on the Avalanche back in 2011, apparently the previous owner didn't keep up on it. It was getting a bit dark, brownish in color. At the time it was at about 127k miles.
Did the double change, not back to back, and it came back to a nicer more redish color and didn't have any bad smells to it.
I ended up burning up the trans though on our way back from California, let it slip in and out of lock up too many times too soon while climbing hills, overheated it.
Now I use the "tow/haul" mode most of the time when in mountainous areas especially if the bed is full of luggage and all of us are in the truck.
If the fluid is pretty brown, I would be hesitant on doing a sever flush, just a feeling, I dunno. I don't think there has been any actual proof that it damages a trans though. Just people that say their trans died after they did it, when in actuality it was probably about to die out anyways, which is why they thought to check the fluid and saw it's condition.