2003 Ford Taurus Transmission

I recently bought a used 2003 Ford Taurus Sport, with the Duratec Engine. Seems like an all-around great car, with reviews online and from my experience, saying the car is great and reliable on about everything else, except the transmission. Sounds like it’s not very tolerant of any neglect of fluid changes every 60k miles or something around that. I know it’s part of maintenance there and I do so with my other vehicles, but a lot of people overlook tranny fluid changes on many different cars. Some seem more tolerant of this than others, but the AX4S/AX4N in the Taurus seems to have little tolerance for this compared to a lot of vehicles. The one I’m driving now seems to run and drive fine, but 1st and second shifts seem a bit slow at times, and, although not every time, every once in a while, it seems to “pop” into reverse. The the car has I think around 125k-ish to 130k miles on it. The tranny fluid seems a bit dark and dirty. Doesn’t really smell burnt, and it’s not outright all-black, not horrid. But it’s a pretty dirty red. Any suggestions I could take to help it in the mean time? I’d think a filter change, but don’t have the time or all necessary tools to do that right now. Also not sure how the tranny would react without a rebuild. I was thinking of sticking a hose down the dipstick tube, pulling out maybe 2 quarts or so of old fluid, and adding 2 quarts of new ATF back in. Maybe 1/2 bottle of Lucas Tranny fix as well. (Lucas may not work for everyone, but their products have gotten me out of many pickles. As someone who can only afford used, less-than-ideally-maintained cars, Lucas Oil has proven itself.)
I’ve already been told that a tranny flush isn’t a good idea, especially at this mileage. But leaving it as it is I’m afraid wont do me any favors. Any suggestions? Cannot afford a rebuild for a while unless forced to, I know this. But I just bought the car a few days ago, and I’m not one that likes to neglect a vehicle in trouble if I can help it.