Transmission fluid flush. Do it at high miles?

Car: 2003 Sequoia Limited 4wd 4.7L V8
Miles: ~220,000

I'm wanting to do some preventative maintenance on it because the previous owner took so good care of it, and I want it to keep running till I die, preferably.

I'm seeing online a lot of talk about the idea of fully flushing your transmission fluid on higher milage engines that have not had a change at the recommended time being a bad thing due to the old fluid having particulates and gunk that serves as compensation the transmission needs to not slip when shifting. And that when you flush and replace with all new oil, the transmission is now exhibiting all the issues it currently has that were compensated previously by the old fluid gunked providing the extra friction, or whatever.

My question is that, since I do not know the last time the fluid was fully flushed, and the engine being at 220k miles, is this concern something to seriously consider? The fluid off the dip stick is cherry red, and only slightly tinted when I wipe it on a white tissue, so I'm inclined to think the oil is likely not super old or "gone bad", but I would rather research first then flush it and potentially ruin the transmission

Another claim I see is that FULLY FLUSHING the fluid is what causes the issues of the slippage on higher milage transmissions and that simply draining and then refilling with no full flush will eliminate/considerably reduce this risk.

I read online that this car's transmission is rather good at higher miles, so I would hope I dont need to worry about it, but I'm always open to different opinions

Thanks