You should 100% change the fluid. Not only just drain the transmission pan fluid and replace filter, but also drain torque converter fluid as well. I would recommend Liqui Moly Top Tec ATF 1600. You can purchase from several vendors, but I've purchased it from ECS Tuning before. You'll need roughly 8/9 quarts if you drain pan and torque converter. I would also recommend getting a new drain plug bolt and washer for both the pan and torque converter. Also, theoretically the transmission pan bolts are one time use. You can use originals again, but if you're there honestly just replace them. Make sure you torque the drain plugs and transmission pan bolts to spec with a torque wrench. If I remember correctly, it's 8nm torque spec for transmission pan bolts. I can't recall the drain plug torque specs but there should be plenty of info here on the forum for that. If you can't find it, let me know and I can check in WIS.
Should be several youtube videos on how to do transmission service on a 722.6 transmission and torque converter to help you understand the process a little better! On the W208, it's really not hard at all.