Sorry, but the trans needs a rebuild. When clutches in the trans slip(because of a problem), they overheat and burn. This contaminates the oil as well as burning it slightly. Therefore it can smell bad. sometimes really bad! Dan the tranny man. Dan again- Please remember that the ATF in your vehicle is synthetic which does smell different that regular ATF. If this is the only symptom, the smell and color, then you do not need a transmission, Flush the fluid and replace the filter. The fluid is worn out and the transmission may have not reached a serious point.
Are you sure it is oil residue? If it is dark brown or reddish brown is is probably long life coolant residue. Typically coolant can be forced into oil from a failure of a sort, but not the other way around from what I have seen. Transmission coolers have been known to rupture inside the radiator allowing the two to mix. Your transmission fluid gets a stawberry milkshake look to it. But I don't recommend drinking it no matter good it looks. But this condition will wipe out a transmission if not caught early on.
When was the last time you serviced the Transmission. Pull out the dipstick on the transmission while car is running with the transmission in park. and check the fulid level is it full of fluid?, if so smell the fluid does it stink or look dark? Then this may be all you need to do is take it to a Shop and let then service it for you.
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