Drain the oil off and remove the transmission pan (take care not to damage the gasket) and look at the filter. Chances are that if the oil is going brown there may have also been some internal wear. The wear debris will be caught for the most part by the filter. Wipe out the pan and change the filter. Bolt the pan back on and refill with the recommended transmission fluid (make sure that it is the one recommended as there are different types of fluid and they are not all interchangeable). Some transmissions have a top filler bolt and if this is difficult to get to you could try filling via the dip stick tube. Check the fluid level on the dip stick once the engine has warmed up but switched off.
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