transaxle fluid dirty,kind of dark,doesn't smell burnt.Has 59,277 miles on it

What is your question?

Hubby wants to know if he should change the filter and fluid in this,because of color,it isn't pink. It has low miles,so assuming lots of stop and go driving,as is what I will be doing. We just bought this,traded the camry for it,hoping for it to last many many more miles. should this be part of regular maintenance? Should we be concerned at all because of the color of the fluid? runs and drives great! Thanks.