Should I replace my tranny fluid?

[asma123]

Hey guys, currently my 02 e53 4.4 has 113km.
The other day I was driving and it looked to me like it was slipping (only happened this time) not sure if it was because of the hill I was going over or what but I did notice this and eased off the throttle. I don't think the tranny fluid has been changed so I'm wondering if I should... Many people say don't touch it but other people say do it so I'm a bit confused as to what to do. I haven't had any issues with it (just this one time) otherwise it shifts and works perfectly.

If you guys suggest doing the tranny fluid, which one should I put on? thanks