2004 Mazda Tribute Transmission filter

My Tribute currently has 203K miles on it, I'm planning on doing a drain & fill since I checked the fluid and even though it's not in a really bad shape (currently it has a darkish red color), I don't want to risk it since I just got this vehicle and I want to keep track of the maintenance schedule. The thing is, doing some research I found that the filter is non serviceable and, according to Ford, it's a lifetime filter, which I already know it's BS, but the issue is that the filter is inside the transmission.

So, is doing all that extra work to replace the filter worth it? Or should I just do the drain and fill? (The transmission is working perfectly fine btw)