I just had Jiffy Lube so the auto transmission service on my 96 prelude today. They drain about 30-50% of the fluid and replace the filter/screen and replace the gasket too. Of course fill it back up with fresh oil too.

Mine works smoother now when shifting and feels a little more "peppy". It was only like $35 for it too, not bad. I bought the car used, they didn't have all the records for what services had been done... so I don't know if/when it was ever changed.