So I finally did it.
It took me like 7 hours total but I also changed the oil, HVAC filter, cleaned up, went out to buy parts etc that I needed, but I finally did it. The fluid that came out was darkish brown and had almost a water like consistency to it. The fresh ZF Lifeguard 6 that I put in was a light brown clear oil like fluid. Much thicker in consistency.
Upshifts definitely feel much faster and and smoother now and I haven't experienced any jerking that I had previously over the past 10,000km or so.
I'm probably not up for flushing and refilling to get out all of the old fluid but I'll probably look to service it every 50,000km.
If anyone wants any help doing theirs feel free to PM me.