2001 Ford Taurus Should I have fluid / filter changed.

Good day. I have a 2001 Ford Taurus SES (3.0 OHV Vulcan)

I recently had some maintenance done. The shop recommended changing the transmission fluid (getting brownish in color, no burnt smell)

The vehicle has 189599 miles.

I do notice an occasional transmission fluid leak after heavy driving (usually hot weather) after the car sits for a while. As long as the fluid is not low, it shifts well.

Is it advisable to have the service done? Bars makes a stop leak product for transmissions which is supposed to work better with new fluid.

I was just concerned after seeing a post about not servicing a high mileage transmission.

Thank you for your help.