As long as I liked the vehicle enough to try and drive it until the wheels fell off, I would change it to get it on a schedule. I wouldn't flush it. Just drop the pan, change the filter and fluid, and clean out the pan. Do that now, and at 175,00 and every 25,000 after that. After two or three of the 25,000 mile changes, the filter and fluid will remain pretty clean looking, and you can back it off to 50,000 or longer intervals.
It was new, but I have a 97 Blazer I changed the fluid at 50,000, then every 25,000 until the filter and fluid looked new and there was virtually no silt in the pan. I think I have changed it a couple more times at somewhere near the 200,000 and 300,000 marks, but I actually considered them a waste of time because the filter and fluid still looked new. I am pushing close to 450,000 miles on the original transmission.
I have started the same routine on my 2000 F-150 that I acquired with 100,000 miles in 2006. But I don't drive it enough to have realized the same longevity. When the Blazer gives it up, I will switch to the F-150 and drive it until the wheels fall off. Or at least until the body holds out. This one spent some time in a salty environment so it has quite a bit more corrosion than the Blazer.