I'd definitely drop the pan and change the filter as well, it's pretty easy just a little messy.

I drained and filled my first tranny fluid at 50k as soon as warranty expired lol, then drained and filled at 75k during a stupid tranny gasket change, then i dropped the pan and changed the filter at 87k.
Needless to say filter was black as black can be, magnets were black, lots of sediment, no big pieces or anything but seeing the color and the fine "dust" like substance i'm glad i changed it. you just can't compare the new filter and new oil with old, it was a huge difference in how it looked.

no such thing as lifetime, this has been discussed numerous times, it's all a marketing gimmick... i could write about that for days, i've already done my research many times, before i actually did any work on my car.
if i believed in lifetime i wouldn't have touched it as early and often as i did