I am with CopSTA...Get it flushed
I don't necessarily recommend having it done at a Ford dealer, or any particular shop. Just make sure it is a reliable shop and has the right equipment.
I had my 2 Sport Trac's flushed at a local place "Kwik Lube" and they did a great job, for only $85....but that was over 10 years ago. I had both trucks flushed every 20K miles because of their reputation for transmission problems. A conventional transmission fluid change that drops the pan only changes about half the transmission fluid, while a flush changes about 98% of the dirty fluid.
Unlike others, I don't feel that the transmission filter needs to be changed for 100K miles if the transmission is flushed regularly since it is really more of a strainer rather than a filter. Any particles that could damage the transmission are stopped by the filter. The transmission filter is not like an engine oil filter because it does not trap and hold any particulate matter.....When you shut the engine off, the particles trapped by the filter fall to the bottom of the pan where they are held by the magnet and prevented them from recirculating through the transmission. Simply stated: Transmission filters are not the same as engine oil filters because there are no combustion byproducts in the transmission. Also, dropping the pan to change the fluid and filter only increases the chances of a transmission leak....also why many transmission in newer vehicles are considered sealed, and only require periodic flushing with a filter change every 100K miles.
I also don't believe that transmissions need pre-flush cleaners or additives that some shops want to charge you extra for.... They are only used to enhance the shop's profit margin.
...Rich