You should change the fluid. As a lubricant engineer specifically automotive you can never tell if fluid is bad just by looking at it. Transmission fluid does not get black and dirty like engine oil. The base stocks and additives do become depleted over time. With ATF there are a lot of elements that come into a perfectly balanced formula. ATF have friction modifiers/improvers that make the transmission operate as designed. As they become depleted they will not work as well. If you do just a drain and filter change you will not get all of the old fluid out. IF your dealer is using a flush machine it actually pushes all of the old fluid out and replaces it with new fluid. A proper fluid exchange and new filter should be all you need to do. Just make sure your dealer is not taking short cuts and using cheap ATF. Most dealer use AC Delco Dexron VI. There are some dealers out there using cheap off spec ATF and motor oils.
Some dealers call a Transmission Flush a service when they actually sell you on a Chemical Service Flush. They use products such as VPS (Valvoline Professional Service), MOC, BG or something else. The main benefit to these is the warranty that comes with the service. Usually they will offer a 250,000 warranty or VPS even offers a lifetime now if you start the services by 36,000 miles. Up to $4,000.00 parts and labor coverage.
At 80K miles a fluid exchange and filter replacement would be perfect. Use the AC Delco Dex VI or something life a Maxlife ATF.