I have a buddy that is adamant about not flushing transmissions if you dont have a issue because he think its guaranteed to have an issue after, from his experience. lol
Flushing can really be bad if you've never done a routine flush on a schedule. You don't want to go 150,000 miles before your first one. You would need a garage with a forced flush system to move it all out, and then probably flush again soon after to make sure all the gunk is out.
Transmission oil breaks down with heat and wear like any other, and will eventually contain sludge and dirt.