Hi,
Congrats on your new truck! Imho, yes, definitely change your trans fluid. If you're looking for another 100,000 miles from it, you sure don't want to try that on the original fluid! : )
Also, I'd definitely recommend dropping the pan, changing the filter, and draining the TC vs. having a flush done. It's a pretty easy job. There is a good set of instructions here:
http://members.shaw.ca/pferlow/transmission_oil.htm
Oh, one more thing--- if you're going to drop the pan, read the sticky at the top of this forum about "Loose Yellow Piece in tranny pan". : )
Good luck with your new truck.