'98 Honda Acc LX - 93k mi, auto & '12 Chevy Cruze RS - auto, 128K - change trans fluid?

Bought this vehicle a few years back from an older woman when the vehicle had 84,000 mile.  I want to change the trans fluid, however, dont want to do damage as it seems alittle late for the first trans fluid change.  Do you think its ok to change the trans fluid (not flush) now?  If yes, what is the best fluid for that vehicle ?  Also, I imagine there is a filter as well, if so should I do that as well?

Also, have 2012 Chevy Cruze RS, automatic, 128,000 mile. smaller motor turbo.  Bought vehicle last year (at 108,000 miles)  and not sure if trans fluid was ever changed, however, its shifting hard and the dealer stated the trans needs to be replaced.  I asked what was wrong with the trans as I have a warranty and they cover alot of components.  Dealer stated we do not fix transmission, we replace.  We did bring vehicle to a trans guy a few months back and he stated there are no trans codes so the trans must be good.  However, I feel there must be a trans issue.  At the least, is it ok to change (not flush) the trans fluid at 128k (now)?  If yes, what fluid should we has them use?