When the 2002 came out, Ford made a bit of a big deal out of the fact that the transmission was "sealed" and that the fluid should last 150,000 miles. My maintenance booklet that came with the truck states that at 150,000 miles the ATF should be changed, so 150,000 miles is the factory interval, not 100,000 miles as the dealers claimed.
However, given some of the discussions of the 5R55W transmission in the transmission section of these forums with the solenoid and servos both being sensitive to wear/particles and having tight clearances, it seems wise to change the ATF out at an accelerated schedule to try and reduce the likelihood of any transmission issues. To me, changing at ~60,000 miles made sense. Given the low miles per year I am now putting on the truck, I will not have to change it out again before the truck rusts out.
I also changed the ATF oil in the transfer case and the gear oil in the two differentials at about the same time.
Rumple