I have looked at this a lot, as I have a couple older highline cars that have "lifetime" trans fluid and are supposed to never need replaced. As a result, they are sealed systems, with no dipstick to measure the correct level which is annoying.
My research says "BS". The fluids DO break down over time and need replaced. The problem is, "lifetime" to me might mean 20 years, but to the manufacturer "lifetime" means about 5 years. Then they just sell you a new transmission for $5k when it breaks down.
I do drain and refill on mine every 50k miles. On one car, I just drain and refill like 3-4 iterations, because it's easier to get 90% new trans fluid this way than try to drop the pan and guess on the refill amount.
On the other car, I haven't done it yet (just got it last fall) but not sure if I will do the iterations, or just drop the pan, replace the filter, and hope to figure out the correct amount.
Owner forums for your specific model and youtube DIY videos are your friends!
TLDR:
DO change the fluid if it is 10 years old - drain and refill.
+1000 to the NEVER do a pressure flush, esp on an old car.