Transmission Fluid change on TSX

I recently took my 2010 TSX to the stealership for A1 maintenence and was told that the transmission fluid looks dark and burnt and was quoted $260. I talked to a Honda dealership over the phone and the person there recommended that I do not do anything until the maintenance code "3" shows up. He added that the on-board computer monitors the viscosity of the fluid and should let us know if there is a problem. Do you have any advice in this topic?

Appreciate your help!!