Transmission fluid is considered "burnt", does this require a full transmission flush?

I would recommend the full flush. Burnt fluid can cause damages to the trans if used for a long time. I would also make sure the trans cooler and cooler lines are good flowing, there is a reason the fluid is burnt. Once burnt it doesnt have the same properties it used to have. same way when you cook an egg it's still and egg but is nothing like it was before. "Miracle additives" are to be shunned for the most part.

It is not typical for the tranny fluid to be burnt. Is there a hitch on this vehicle? I would not add any additives to the tranny if the fluid is burnt. A complete flush is in order. It should cost about 80-90 dollars with filter.

Just be careful about what they are calling a "flush". Many places use machines that do "Power Flushes" which force fluid through at high pressure, and many also use solvents to try to clean out varnish and gunk. That's where the danger can come in. These type of "Power Flushes" with conditioners and solvents can do more harm to your transmission that good. If the current fluid really is burnt, then instead of a "flush" have a FLUID EXCHANGE done. A fluid exchange does not use high pressure, no solvents, no conditioners. It just replaces virtually ALL of the old fluid with new fluid WITHOUT using high pressure. Many of the better quality shops have low pressure fluid exchange machines.