Make sure the fluid is to the right level. You may want to do a trans pan drop (I've never seen a car without a pan) and check out how bad the crud is on the bottom of the pan. If it is really bad then just run it till the tranny dies then put in a new one if the car is worth it. BUT since they neglected the tranny I'm guessing the rest of the car is on borrowed time with that king of mileage.
09 Vue(83K) 2.4 4spd auto-Maxlife 5w30 / 09 Flex(45K) 3.5L / Moms car 04 Pilot(99K) 5w20 PP + Puro