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I'll say ...kinda. I put some in my daughters mazda when it's AT was slipping and seemed to be discoloring the fluid. Six months later and it is still alive but I do drain and fill (Pan only 4 qts.) the trans every time I change the oil and it does include some Lucas so the constant addition of fresh fluid may be helping. My diesel mechanic has been using Lucas in everything for many years and says the key with the Lucas is not to leave it in for too long. Can't hurt your trans at this point so I say use it.
Lucas is a great worked on my 79 f150 hunting truck transmission that was slipping added Lucas now shifts like a new transmission and that about 3 years ago