I've heard the same thing about not changing transmission fluid in high mileage cars if it hasn't been done previously. I've also heard that you can do it and it shouldn't cause any problems. Mine had about 235k on it and as far as I know it had never been changed. It definitely hadn't been done in a long time. I drained it, put a new filter in, and filled it back up with new transmission fluid. I got the transmission fluid from either autozone or advance auto parts. I can't remember which one or what brand it was but it said it was compatible. That was about 6k miles ago and it is still running fine without any transmission codes.

 

I first got the P0741 at about 90K and it was recommended that I change the torque converter. It was running fine, so I put it off. I cleared the code and was able to get it smogged in CA twice since then (by clearing the P0741) and I'm on my third smog check this year at 205K on the same torque converter. I did do a transmission flush, filter and fluid change at 160K and had zero shifting problems. But the P0741 code came up again, but far less frequent. I do get slightly lower gas mileage, maybe 1-2 mpg less, depending on how I drive.

I can't say whether the same will happen to you, but I baby the car and nver drive it hard like it can be.