Did two drain and fills in one day on my 2000 Odyssey last month, using DW-1. Car was at 220,000 when I changed the fluid which hadn't been touched touched since the first time ever at 130,000 way too many years ago. Drained, filled, drove a few highway miles, then repeated once more. I noticed the 1-2 shift is much firmer, not slippy at all, but a quick kind of head-bobbing shift if you get what I mean. Overall, trans shifts a little quicker and is more assuring. It was never really slipping and definitely never flaring, ever. Also has had an aftermarket cooler on it since new. Started making a gritty whining noise around 45 MPH at like 160,000 miles a few years ago and the noise still persists - no change and seemingly no effect on shift quality.
Also did an entire flush on my 1991 Accord last summer at 215,000 miles, via the trans fluid cooler line, using DW-1. It was driving like the typical Accord 4-speed, harsh 1-2 shift, wasn't slipping unless under real heavy load, sometimes mushy shifting. After the flush, shifts were just as solid but a bit smoother, less slipping up big hills and under heavy load, and I was getting about 2 miles per gallon better than before. Car is now at 221,000 miles and drives the same way. Even with new engine mounts, still bangs into reverse and a little hard into drive but they all do that. I don't see any negative effects at all.