Assuming you want to keep the vehicle long-term, I would drop the pan and replace the filter and top off with fresh correct fluid. If it improves or at least no ill effects, drive it 1000 miles and do a fluid drain & fill, wait to see how it responds, etc. After 3-4 of these you will change out most of the fluid. Just don't do a transmission flush, those are unnecessary and can be troublesome and expensive.