Changing the fluid will not f up your trans
Changing fluid is "most always" a great idea... BUT, if the fluid is really fried, you may change the fluid, and the car may finally take a dump...
The clutches continually shed material. After a certain point, they will slip a bit, especially with old crappy fluid. That induces heat. Once the the clutches get really varnished up from the fluid overheating, you change the fluid to some nice slippery thicker fluid, you may have troubles...
Brown, may just be old and fine to change. If it smells burnt and is dark, you may notice troubles after a fluid change. If it does, then it was bound to happen eventually. But, you may have sped up the demise with the change.
We certainly get a few cars in from the local lubestops that came in with fried fluid, they changed it, and it would hardly pull out of the place.
If it comes in with really burnt fluid and still moves ok, we tell people to eek out the last days of it, and save for a build.
This not to tell you not to change the fluid. But, to warn you what could happen if it's really toasted.