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Ideally, it would have been changed some years ago. However, better to change it now than to not change it. You're not doing a transmission any favors by failing to change depleted/contaminated/burnt fluid. A "pan drop" is OK. Better still would be to drop one of the cooler tubes* so you can pump the pan empty before removing it--no spilling, no mess, and NO NEED FOR A DRAIN PLUG on the trans pan. Just start the engine, shut it off when the fluid coming out sputters instead of a solid stream from the cooler tube as it's expelled into the drain pan. Drop and clean the pan 'n' magnet, replace the filter, replace or re-use the gasket depending on it's condition--the OEM gaskets on newer vehicles tend to be quite nice. Reinstall the pan. Pour 5 quarts of fluid down the dipstick tube, open eight or perhaps ten more quarts and keep 'em near-by. Start engine, dump fluid down the dipstick tube as fast as it will flow. Watch the fluid spraying out the cooler tube into the drain pan. When that fluid looks as bright, virgin-new as the stuff you're pouring down the dipstick tube, shut off the engine. Re-connect cooler tube. Start engine, top off fluid as needed. Not only did you get a panfull of fresh fluid, you've also flushed the crappy, depleted fluid from the torque converter. Two people--one to start and stop the engine, the other to pour fresh fluid, and watch the fluid coming out of the cooler tube--is helpful, but not absolutely required. I do this by myself. *Which tube to drop at the cooler, depends on how OCD you are. IF (big IF) you want to do this the absolute best way, you'll disconnect the cooler tube that routes the cooled fluid back to the transmission. Install a short piece of tubing into the cooler, so that it sprays into a drain pan. You should be able to buy a foot-long or eighteen-inch section of tubing at most any parts store--but make sure it has the same sort of connector system on the end that your OEM cooler tube has. That way you're flushing the transmission AND the cooler. Otherwise, just drop the tube that carries the hot fluid to the cooler, and arrange things so it sprays directly into the drain pan; perhaps by putting a section of rubber hose on the end that you can use as a "nozzle" to direct the fluid.

You should be fine, just dropping the pan and filter wont drain the entire transmission. Just pay attention to anything in the bottom of the pan and add a magnet if there isnt one already.