Most people who service their transmissions regularly do it at 30k-50k mi intervals, and they'll typically drop the pan the first time so that they can replace the transmission fluid filter as well, since the filter would have caught any of the metal wear from the initial break-in of the car. After that, it would be just standard drain and fills at each interval.
At 10 years and 250k mi, if you've never serviced the transmission, it's probably best to leave it alone so that you don't make anything worse. Definitely don't do a transmission flush. The fluid has likely gunked up over time and there are deposits that will come loose during a flush. Those deposits can clog the valleys in the transmission and cause some serious shifting issues. Again, it's probably best to leave it alone and ride it out until the transmission dies, then replace the transmission or scrap the car at that point. There are cars out there that have never changed their fluid out and driven 350-400k mi, but I wouldn't rely on that.