I am not a transmission expert, but this was my experience:
1991 Camry, 4, 110,000, AT I got the car with 35,000 (wasn't mine at the time, it became mine at about 65,000). I don't think the transmission was ever serviced before. At about 50,000, the mechanic showed me how dirty was the ATF, and he drained/refiled twice. The prediction was that the trans was about to die.
Since then, the ATF always looked dark, no matter how frequently I changed the fluid. At about 70,000 the slipping between 1st and 2nd was bad. The mechanic (another one) already started to calculate how much it would cost me to get another one. I started draining the fluid with every oil change, because right after the fluid change the transition between 1st to 2nd gear was a bit smoother. At 93,000 another mechanic convinced me to flush. I hesitated due to warnings I read on this NG. After running the standard 12 quarts through it, the fluid coming out was still dark. It took 16 quarts to clean it. Afterwards the slipping was almost completely gone (I can still feel it when the engine is cold), and the fluid is not getting dark the way it used to be. I read all the theories in this NG about frequent refills, but it did not solve my problem and did not replace all the fluid (contrary to the multiple-drain/refill theoretical prediction). I should had flushed the tranny long time ago, I probably damaged it by having dirty fluid in it for more than 50,000 miles. Maybe flushing can be harmful, but it my case it was the proper solution.