Personally, if it has more than 30,000 miles on it - change the trans filter and fluid. In my experience, I hear a lot of people saying they have transmission problems at 90K or so miles. The main reason for this, nobody has ever drained the fluid and changed the filter in the trans. But this is my opinion, I would rather invest in a fluid and filter change now for $50 or $100 than I would to fork out $1500 TO $2000 later for a transmission.
Check with the dealer to see if they may have the service records for the car. If they do, see when the trans was serviced. If they don't, see if they will do a fluid dump and filter change as a freebe or at a low cost to you. If you pay for it, do it yourself, or get it done for nothing, it is a good investment. As I said before, this is my opinion.