Given the choice of either 1) drop pan, change filter, clean magnets and refill, or (2) flush out all the old fluid via a cooler line flush/refill/flush/refill/etc I nearly always choose the complete fluid replacement vs drain and refill, which gets out only about half the fluid or so. Depends on how difficult either method is. Flushing FWD Chrysler can cause errors, so I drain and refill those with a Dorman pan upgrade. And a drain/refill on some very dirty fluid (150k+) is a safer bet as a slower cleanup vs a complete flush all at once.
But for a 94k mile fluid, the best would be to yes, install a drain plug and change pan filter/clean magnets, etc. Then pour in new fluid and flush the rest via a cooler line if possible to all of the fluid out of the torque converter, etc. Then you will have nearly 100% new fluid and can keep it very clean with an easy drain/refill now and then.
But for a 94k mile fluid, the best would be to yes, install a drain plug and change pan filter/clean magnets, etc. Then pour in new fluid and flush the rest via a cooler line if possible to all of the fluid out of the torque converter, etc. Then you will have nearly 100% new fluid and can keep it very clean with an easy drain/refill now and then.