Hello, I'm Danny.
It's usually not a good idea on high mileage vehicles but since your car only has 53,000 miles that isn't very much mileage. Generally what happens with dark-burnt fluid in a high mileage vehicle is that friction material from the clutch packs deteriorates and stays in the fluid. Therefore when the fluid is changed there is no more friction material and soon after the transmission will start to slip after new fresh fluid is put back in. I don't see this happening with your vehicle since there is low mileage. Here is a tutorial showing how to service an automatic transmission:
I've attached a picture below with the transmission fluid type and capacity below. Hope this helps and thanks for using 2CarPros.
Image (Click to make bigger)
Saturday, May 1st, 2021 AT 1:24 PM