How soon are you planning to sell, and have you had any actual leaks or just discoloration?
The rust-colored water is definitely your pipes telling you they're on borrowed time. At 41 years old, your galvanized system is right at the end of its typical lifespan, and flushing is basically a temporary band-aid. You might buy yourself a year or two of clearer water, but you're not reversing the internal corrosion. The real issue is that once rust starts showing up in your tap water, the pipe walls are already compromised - pinhole leaks usually follow within months or a few years. So if you're staying put for another decade, the $8k replacement will almost certainly be necessary eventually; it's just a matter of whether you want to deal with it now or when you've got a burst pipe flooding your basement at 2 AM.
That said, PEX is a solid choice for the lifespan and cost. I had a similar situation in my own place and went the replacement route; the plumber also ran new supply lines while the walls were open, which saved money versus doing it piecemeal later. If $8k feels steep, get a second or third quote - prices vary wildly depending on how accessible your pipes are and whether your plumber needs to open walls. Some areas also have rebate programs for replacing old galvanized, so worth checking with your local water utility.
If you're not planning to stay more than a few years, you might get away with monitoring it and doing the replacement when you're preparing to sell (though buyers will definitely notice that rust-colored water during inspection). But if you're staying put, I'd lean toward replacing it sooner rather than later.