Definitely change the transmission fluid. I change mine every 40k miles at a minimum. In your case, I would drop the pan, replace the filter and refill. Then in another 5k miles drop the pan and refill again. The reason for this is that only 5-7 quarts are drained with a pan drop out of the 12-14 quarts it holds in total. To get a decent amount of fluid replaced two drains are needed. This is especially warranted in your case where there is 100k miles on the fluid. Some people will go the route of flushing the transmission which replaces most of the fluid. Some think this can possibly lead to transmission failure due to dislodging debris that could clog the fluid passages. I don't know who is correct so I default to the safer option of draining and refilling.
Ford's claim that transmission fluid in their sealed transmissions lasts a lifetime is just flat wrong. No fluid lasts a lifetime, period. All this does is ensure the service departments of Ford dealers get more business. Make sure you use Motorcraft brand Mercon fluid only. It has the specific blend of ingredients that the transmission needs. Replace the fluid in the transfer case too if your vehicle is four wheel drive. Servicing the transfer case is easy and it only takes 1-2 quarts of fluid. Also, since you are at 100k miles, I would suggest replacing the rear (and front if you have FWD) differential fluid with Motorcraft brand synthetic gear oil. This will help to prevent you from doing a costly differential repair as the miles roll up.