When to change automatic transmission fluid?

still went ahead and drained a quart.. looks much better now :)

will check again after I drove 10 miles and the transmission is hot.. my regular distance is only 2-3 miles .. had it only idle in the driveway for like 15 minutes.. and switched thru all gears multiple times.. measured at neutral.. flat surface..

doesn't look red in the bottle.. but on my hands.. I had only 8 quarts of new ATF+4 fluid added.. so it must got the dark color from the remaining old

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