I still got 2 years left on the dealer warranty. Engine and transmission.
I've seen worse. hows the trans drive? Did it give you any cause to check the fluid? Or are you just doing it because you decided to look at it?
Light brown fluid isn't horrible. Black and burnt smelling is when you trade that crap in. Because its on borrowed time.
Its best to get a white paper towel and let the trans fluid drip onto that. That will show the color better.
If its a light brown then I wouldn't feel bad about changing it unless the trans has been acting up. I'd just do a drain an fill though. That won't get all of the fluid out, but it will also avoid dislodging any sludge that may be in the valve-body.
You can follow that up with another drain and fill in a month and eventually most of the gunk will work itself out, as long as the steels and clutch packs haven't been glazed and varnished.
I'd look at the warranty terms and see exactly what they cover. I'd also look at the transmission's fluid service schedule. If its a "fill for life" and the warranty covers replacement due to failure I'd say have the dealer flush it, and if it fails you can put the replacement on them.
I never have understood this fill for life crap. Transmission fluid is one of the most highly additive based oils out there. Its got crazy amounts of detergents in it to keep the valve body clean.