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I have a 2005 Toyota Ipsum, 108k kms, 2.4 l engine. It is an imported vehicle and I am the first NZ owner from this month. When I checked the transmission fluid, it looked black, and when rubbed on finger tips, the black color doesn't stain on finger. It do have a smell, but I am not an expert to judge if its a burnt smell. It seems like Japan owner hasn't replaced the oil at 90k.

I do get many different comments from internet that, black color means transmission is out of life and shouldn't do a flush as it would damage it, if certain flush machines. There are different types of flush machines and all doesn't do a the same way. So if I go to garage I don't know which machine they going to use.

I have done a inspection at Toyota dealer and he mentioned oil change but flush is better. Another garage said, transmission filter needs to be replaced.

My most likely plan is to just change with a penrite semi synthetic oil and give it a go. If its becoming really black again in 6 months, then probably think about a flush.

Question is whether this approach is fine.

I would recommend having the transmission serviced properly. This will usually entail flushing the fluid and replacing the filter.
You mention changing the oil to a semi-synthetic, but I think you're talking about engine oil, not transmission oil? However, it's important to ensure the engine is maintained properly too, so I'd agree with your suggestion.