Should I change my transmission fluid?

[mikeytotka23]

I have a 2002 Explorer XLS 4.0L V6. I bought the car used in November 2007 with 73,000 miles on it. It currently has 90,000 miles. I have no idea if the transmission fluid was ever changed before I bought it, and I have not changed it since I bought it. I know it "should" be changed at 90,000 miles according to Ford, but I have heard that doing this could destroy the transmission. So my question is, should I get it changed or not?

Also (not sure if this is relevant), when shifting between third and fourth gears, usually around 40-45 mph, there is a sound like I am running over a few small bumps in the road, or several small speed bumps.

 

[smurfxlt]

that noise might be your cuplling something or other, but then again i might just be an idiot. sorry for the extremely vague reply but i cant remember the name and im on my lunch break so i dont want to try too hard to remember lol