In case it helps, here's correct fluid check procedure. Rather than drive to get it warm, it will reach 30-40deg just idling & putting through all the gears.
+1 on definitely change the filter & re-check levels.
+2 on checking for rust, especially rear arches behind the plastic covers (They should be called water & mud retainers)
+1 on definitely change the filter & re-check levels.
+2 on checking for rust, especially rear arches behind the plastic covers (They should be called water & mud retainers)