Chroniques des Mondes Oubliés

I'm properly stuck on this one and could really use some input from people who've been through this before. I've got a 2014 Q7 3.0 TDI that's just rolled over 180,000 kms and the transmission is still shifting pretty smoothly to be honest, but I know the fluid has never been changed because the previous owner was one of those "if it ain't broke don't fix it" types. I've been doing a ton of research lately because I'm starting to get a bit paranoid about the longevity of the gearbox at this mileage, and I keep going back and forth on whether I should do a complete fluid exchange with a flush machine or just a standard drain and fill. The problem is I've read so many horror stories about flushing high mileage transmissions and then having them fail shortly afterwards because the new fluid dislodges all the old gunk that was holding everything together. I found a really comprehensive guide that explained the whole process step by step at auditransmissionrepair.ae/audi-transmission-oil-change/ and it gave me a much better understanding of what's actually involved, especially the importance of using the right spec fluid and doing the adaptation reset afterwards. I'm leaning towards just doing a drain and fill with a new filter and leaving it at that because it feels like the safer option, but I'm also worried that just changing half the fluid isn't really doing the job properly. Has anyone here done a transmission service on a similar mileage Audi and how did it work out for you? I really don't want to be the one who ignores it and ends up with a blown gearbox, but I also don't want to create problems that weren't there in the first place by messing with it.