Change trans fliud or not? 96 Odyssey.

I have a new to me 1996 Odyssey with 156,000 miles on it. I can't find anything in it's history that says the trans fluid was ever changed. The fluid looks pretty good, not off color much and does not smell bad. The trans shifts a little hard but is still functional.

I have read that changing a high mileage vehicle trans fluid can cause problems if it has never been changed before. It has no changeable filter.

Anyone ever change one like this with similar circumstances?

What do you guys think I should do. Change or not?

Thanks a ton?

 

Just bought a 2003 Odyssey 150k same question.
She shifts ok not perfect. Slams the downshifts a bit second to first especially. There is a filter under the battery tray on mine.
I'm going to change that external filter and possibly add a trans cooler.
Starting to see why people like these cars they are fun to use and easy to overwork them with fast driving and added passengers and gear. I'm scared to mess with that old aft fluid.

 

My mechanic told me that trans fluid should be changed every 30k miles.